Control Techniques Reconditioned Unidrive M600 User Guide

Control User Guide

Unidrive M600

Part Number: 0478-0337-02 Issue: 2

Original Instructions

For the purposes of compliance with the EU Machinery Directive 2006/42/EC, the English version of this manual is the Original Instructions. Manuals

in other languages are Translations of the Original Instructions.

Documentation

Manuals are available to download from the following locations: http://www.drive-setup.com/ctdownloads

The information contained in this manual is believed to be correct at the time of printing and does not form part of any contract. The manufacturer reserves the right to change the specification of the product and its performance, and the contents of the manual, without notice.

Warranty and Liability

In no event and under no circumstances shall the manufacturer be liable for damages and failures due to misuse, abuse, improper installation, or abnormal conditions of temperature, dust, or corrosion, or failures due to operation outside the published ratings. The manufacturer is not liable for consequential and incidental damages. Contact the supplier of the dive for full details of the warranty terms.

Environmental policy

Control Techniques Ltd operates an Environmental Management System (EMS) that conforms to the International Standard ISO 14001.

Further information on our Environmental Policy can be found at: http://www.drive-setup.com/environment

Restriction of Hazardous Substances (RoHS)

The products covered by this manual comply with European and International regulations on the Restriction of Hazardous Substances including EU directive 2011/65/EU and the Chinese Administrative Measures for Restriction of Hazardous Substances in Electrical and Electronic Products.

Disposal and Recycling (WEEE)

When electronic products reach the end of their useful life, they must not be disposed of along with domestic waste but should be recycled by a specialist recycler of electronic equipment. Control Techniques products are designed to be easily dismantled into their major component parts for efficient recycling. The majority of materials used in the product are suitable for recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden crates. Smaller products are packaged in strong cardboard cartons which have a high recycled fibre content. Cartons can be re-used and recycled. Polythene, used in protective film and bags for wrapping the product, can be recycled. When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

REACH legislation

EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation.

Further information on our compliance with REACH can be found at: http://www.drive-setup.com/reach

Registered Office

Nidec Control Techniques Ltd

The Gro

Newtown

Powys

SY16 3BE

UK

Registered in England and Wales. Company Reg. No. 01236886.

Copyright

The contents of this publication are believed to be correct at the time of printing. In the interests of a commitment to a policy of continuous development and improvement, the manufacturer reserves the right to change the specification of the product or its performance, or the contents of the guide, without notice.

All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher.

How to use this guide

NOTE

Quick Start /

bench testing

Quick Start /

bench

testing

Familiarisation

System designSystem design

Programming

and

commissioning

Programming

and

commissioning

Troubleshooting

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Basic parameters

7 Running the motor

8 Optimization

9 NV media card operation

11 Advanced parameters

12 Diagnostics

13 UL listing information

10 Onboard PLC

This guide is intended to be used in conjunction with the appropriate Power Installation Guide. The Power Installation Guide gives information necessary to physically install the drive. This guide gives information on drive configuration,

operation and optimization.

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety information contains general safety information. It is essential that the warnings are observed and the information considered when working with or designing a system using the drive.

This map of the user guide helps to find the right sections for the task you wish to complete, but for specific information, refer to :

These electronic drive products are intended to be used with appropriate motors, controllers, electrical protection components and other equipment to form complete end products or systems. Compliance with safety and EMC regulations depends upon installing and configuring drives correctly, including using the specified input filters.

The drives must be installed only by professional installers who are familiar with requirements for safety and EMC. Refer to the Product Documentation. An EMC data sheet is available giving detailed information. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used.

Electromagnetic compatibility (EMC) - Part 6-4: Generic standards - Emission standard for industrial environments

Electromagnetic compatibility (EMC) - Part 3-2: Limits for harmonic current emissions (equipment input current ≤16 A per phase)

Electromagnetic compatibility (EMC) - Part 3-3: Limitation of voltage changes, voltage fluctuations and flicker in public, low voltage supply systems, for equipment with rated current ≤16 A per phase and not subject to conditional connection

6 Unidrive M600 Control User Guide

Issue Number: 2

EU Declaration of Conformity (including 2006 Machinery Directive)

Nidec Control Techniques Ltd

The Gro

Newtown

Powys

UK

SY16 3BE

This declaration is issued under the sole responsibility of the manufacturer. The object of the declaration is in conformity with the relevant Union

harmonization legislation. The declaration applies to the variable speed drive products shown below:

Model No. Interpretation Nomenclature aaaa - bbc ddddde

aaaa Basic series

bb Frame size 01, 02, 03, 04, 05, 06, 07, 08, 09, 10, 11

c Voltage rating 1 = 100 V, 2 = 200 V, 4 = 400 V, 5 = 575 V, 6 = 690 V

ddddd Current rating Example 01000 = 100 A

e Drive format

The model number may be followed by additional characters that do not affect the ratings.

This declaration relates to these products when used as a safety component of a machine. Only the Safe Torque Off function may be used for a safety function of a machine. None of the other functions of the drive may be used to carry out a safety function.

These products fulfil all the relevant provisions of the Machinery Directive 2006/42/EC and the Electromagnetic Compatibility Directive (2014/30/EU).

EC type examination has been carried out by the following notified body:

TUV Rheinland Industrie Service GmbH

Am Grauen Stein

D-51105 Köln

Germany

M600, M700, M701, M702, M708, M709, M751, M753, M754, F300, H300, E200, E300, HS70, HS71, HS72, M000, RECT

A = 6P Rectifier + Inverter (internal choke), D = Inverter, E = 6P Rectifier + Inverter (external choke), T = 12P Rectifier + Inverter (external choke)

The harmonized standards used are shown below:

EC type-examination certificate numbers:

01/205/5270.02/17 dated 2017-08-28

Notified body identification number: 0035

EN 61800-5-1:2016 Adjustable speed electrical power drive systems - Part 5-2: Safety requirements - Functional

EN 61800-5-1:2016 (in extracts)

EN 61800-3: 2004+A1:2012 Adjustable speed electrical power drive systems - Part 3: EMC requirements and specific test methods

EN ISO 13849-1:2015 Safety of Machinery, Safety-related parts of control systems, General principles for design

EN 62061:2005 + AC:2010 + A1:2013 + A2:2015

IEC 61508 Parts 1 - 7:2010 Functional safety of electrical/ electronic/programmable electronic safety-related systems

Person authorised to complete the technical file:

P Knight

Conformity Engineer

Newtown, Powys, UK

Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - Electrical, thermal and energy

Safety of machinery, Functional safety of safety related electrical, electronic and programmable electronic control

systems

Unidrive M600 Control User Guide 7 Issue Number: 2

DoC authorised by:

G. Williams

Vice President, Technology

Date: 6th September 2017

Place: Newtown, Powys, UK

IMPORTANT NOTICE

These electronic drive products are intended to be used with appropriate motors, controllers, electrical protection components and other equipment to form complete end products or systems. It is the responsibility of the installer to ensure that the design of the complete machine, including its safety-related control system, is carried out in accordance with the requirements of the Machinery Directive and any other relevant legislation. The use of a safety-related drive in itself does not ensure the safety of the machine. Compliance with safety and EMC regulations depends upon installing and configuring drives correctly, including using the specified input filters. The drive must be installed only by professional installers who are familiar with requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all relevant laws in the country where it is to be used. For more information regarding Safe Torque Off, refer to the Product Documentation.

8 Unidrive M600 Control User Guide

Issue Number: 2

Safety

WARNING

CAUTION

NOTE

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

1 Safety information

1.1 Warnings, Cautions and Notes

A Warning contains information which is essential for avoiding a safety hazard.

A Caution contains information which is necessary for avoiding a risk of damage to the product or other equipment.

A Note contains information which helps to ensure correct operation of the product.

1.2 Important safety information. Hazards.

This guide applies to products which control electric motors either directly (drives) or indirectly (controllers, option modules and other auxiliary equipment and accessories). In all cases the hazards associated with powerful electrical drives are present, and all safety information relating to drives and associated equipment must be observed.

Specific warnings are given at the relevant places in this guide.

Drives and controllers are intended as components for professional incorporation into complete systems. If installed incorrectly they may present a safety hazard. The drive uses high voltages and currents, carries a high level of stored electrical energy, and is used to control equipment which can cause injury. Close attention is required to the electrical installation and the system design to avoid hazards either in normal operation or in the event of equipment malfunction. System design, installation, commissioning/start-up and maintenance must be carried out by personnel who have the necessary training and competence. They must read this safety information and this guide carefully.

1.3 Responsibility

It is the responsibility of the installer to ensure that the equipment is installed correctly with regard to all instructions given in this guide. They must give due consideration to the safety of the complete system, so as to avoid the risk of injury both in normal operation and in the event of a fault or of reasonably foreseeable misuse.

The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation of the equipment.

1.4 Compliance with regulations

The installer is responsible for complying with all relevant regulations, such as national wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC) regulations. Particular attention must be given to the cross-sectional areas of conductors, the selection of fuses or other protection, and protective ground (earth) connections.

This guide contains instructions for achieving compliance with specific EMC standards.

All machinery to be supplied within the European Union in which this product is used must comply with the following directives:

2006/42/EC Safety of machinery.

2014/30/EU: Electromagnetic Compatibility.

Competence of designers and installers

1.5 Electrical hazards

The voltages used in the drive can cause severe electrical shock and/or burns, and could be lethal. Extreme care is necessary at all times when working with or adjacent to the drive. Hazardous voltage may be present in any of the following locations:

• AC and DC supply cables and connections

• Output cables and connections

• Many internal parts of the drive, and external option units

Unless otherwise indicated, control terminals are single insulated and must not be touched.

The supply must be disconnected by an approved electrical isolation device before gaining access to the electrical connections.

The STOP and Safe Torque Off functions of the drive do not isolate dangerous voltages from the output of the drive or from any external option unit.

The drive must be installed in accordance with the instructions given in this guide. Failure to observe the instructions could result in a fire hazard.

1.6 Stored electrical charge

The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. If the drive has been energized, the AC supply must be isolated at least ten minutes before work may continue.

1.7 Mechanical hazards

Careful consideration must be given to the functions of the drive or controller which might result in a hazard, either through their intended behaviour or through incorrect operation due to a fault. In any application where a malfunction of the drive or its control system could lead to or allow damage, loss or injury, a risk analysis must be carried out, and where necessary, further measures taken to reduce the risk - for example, an over-speed protection device in case of failure of the speed control, or a fail-safe mechanical brake in case of loss of motor braking.

With the sole exception of the Safe Torque Off function, none of the drive functions must be used to ensure safety of personnel, i.e. they must not be used for safety-related functions.

The Safe Torque Off function may be used in a safety-related application. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards.

The design of safety-related control systems must only be done by personnel with the required training and experience. The Safe Torque Off function will only ensure the safety of a machine if it is correctly incorporated into a complete safety system. The system must be subject to a risk assessment to confirm that the residual risk of an unsafe event is at an acceptable level for the application.

1.8 Access to equipment

Access must be restricted to authorized personnel only. Safety regulations which apply at the place of use must be complied with.

1.9 Environmental limits

Instructions in this guide regarding transport, storage, installation and use of the equipment must be complied with, including the specified environmental limits. This includes temperature, humidity, contamination, shock and vibration. Drives must not be subjected to excessive physical force.

1.10 Hazardous environments

The equipment must not be installed in a hazardous environment (i.e. a potentially explosive environment).

Unidrive M600 Control User Guide 9 Issue Number: 2

Safety

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

1.11 Motor

The safety of the motor under variable speed conditions must be ensured.

To avoid the risk of physical injury, do not exceed the maximum specified speed of the motor.

Low speeds may cause the motor to overheat because the cooling fan becomes less effective, causing a fire hazard. The motor should be installed with a protection thermistor. If necessary, an electric forced vent fan should be used.

The values of the motor parameters set in the drive affect the protection of the motor. The default values in the drive must not be relied upon. It is essential that the correct value is entered in the Motor Rated Current parameter.

1.12 Mechanical brake control

Any brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware and software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a fault or failure would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could result in injury, independent protection devices of proven integrity must also be incorporated.

1.13 Adjusting parameters

Some parameters have a profound effect on the operation of the drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering.

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

1.14 Electromagnetic compatibility (EMC)

Installation instructions for a range of EMC environments are provided in the relevant Power Installation Guide. If the installation is poorly designed or other equipment does not comply with suitable standards for EMC, the product might cause or suffer from disturbance due to electromagnetic interaction with other equipment. It is the responsibility of the installer to ensure that the equipment or system into which the product is incorporated complies with the relevant EMC legislation in the place of use.

10 Unidrive M600 Control User Guide

Issue Number: 2

Safety

Identification Label

Electrical Specifications

Derivative

Unidrive M600 Product Line

Frame Size:

Voltage Rating :

Current Rating:

Heavy Duty current rating x10

Power Format:

Reserved

0

Optional Build

Customer Code

01

A B 1 00

Customer Code:

00 = 50 Hz 01 = 60 Hz

Reserved:

Conformal Coating:

0=Standard

IP / NEMA Rating:

1=IP20 / NEMA 1

Brake Transistor:

B=Brake

Cooling:

A=Air

Documentation

1

Documentation:

0 - Supplied separately 1 - English 2 - French 3 - Italian 4 - German 5 - Spanish

2 - 200 V (200 - 240

- 400 V (380 - 480

- 575 V (500 - 575

- 690 V (500 - 690

± 10 %)

4 ±

± ±

10 %) 510 %) 610 %)

Power

Format

M600 - 03 4 00078 A

Configuration*

1

A - AC inAC out (with internal choke) D - DC in AC out (Inverter) C - AC in DC out (Rectifier) E - AC in AC out (without internal choke)

Configuration:

1 - Standard U - No Control M - Master

F - Follower

T - AC in AC out (12P rectifier plus inverter)

N = No brake

NOTE

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

2 Product information

2.1 Introduction

Universal AC and servo drive

Unidrive M600 delivers maximum machine performance with sensorless induction and sensorless permanent magnet motor control, for dynamic and efficient machine operation. An optional encoder port can be used for precise closed loop velocity applications and digital lock / frequency following.

Features

• Universal high performance drive for induction and sensorless permanent magnet motors.

• Onboard IEC 61131-3 programmable automation

• NV Media Card for parameter copying and data storage

• EIA 485 serial communications interface

• Single channel Safe Torque Off (STO) input

Optional features

• Select up to three option modules

2.2 Drive firmware version

This product is supplied with the latest firmware version. If this drive is to be connected to an existing system or machine, all drive firmware versions should be verified to confirm the same functionality as drives of the same model already present. This may also apply to drives returned from an Nidec Industrial Automation Service Centre or Repair Centre. If there is any doubt please contact the supplier of the product.

The firmware version of the drive can be checked by looking at Pr 00.050 {11.029}.

2.3 Model number

The way in which the model numbers for the Unidrive M600 range are formed is illustrated below:

Figure 2-1 Model number

* Only shown on Frame 9 to 11 identification label.

For simplicity, a Frame 9 drive with no internal choke (i.e. model 09xxxxxxE) is referred to as a Frame 9E and a Frame 9 drive with an internal choke (i.e. model 09xxxxxxA) is referred to as a Frame 9A. Any reference to Frame 9 is applicable to both sizes 9E and 9A.

Unidri ve M600 Control User Guide 11 Issue Number: 2

Safety

Available output

current

Overload limit -

Heavy Duty

Maximum continuous current (above 50% base speed) -

Normal Duty

Maximum continuous current -

Heavy Duty

Motor rated current set in the drive

Heavy Duty

- with high

overload capability

Normal Duty

Overload limit -

Normal Duty

NOTE

Motor total

current (Pr 04.001)

as a percentage

of motor rated

current

Motor speed as a percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

2

70%

50%15%

Pr = 0 Pr = 1

04.025

Motor total

current (Pr 04.001)

as a percentage

of motor rated

current

Motor speed as a

percentage of base speed

100%

Max. permissible continuous current

100%

I t protection operates in this region

2

70%

50%

Pr = 0

Pr = 1

04.025

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

2.4 Ratings

The drive is dual rated. The setting of the motor rated current determines which rating applies Heavy Duty or Normal Duty. The two ratings are compatible with motors designed to IEC60034. The graph aside illustrates the difference between Normal Duty and Heavy Duty with respect to continuous current rating and short term overload limits.

Normal Duty Heavy Duty (default)

For applications which use Self ventilated (TENV/TEFC) induction motors and require a low overload capability, and full torque at low speeds is not required (e.g. fans, pumps). Self ventilated (TENV/TEFC) induction motors require increased protection against overload due to the reduced cooling effect of the fan

at low speed. To provide the correct level of protection the I

2

t software operates at a level which is speed dependent. This is illustrated in the graph below.

The speed at which the low speed protection takes effect can be changed by the setting of Low Speed Thermal Protection Mode (04.025). The protection starts when the motor speed is below 15 % of base speed when Pr 04.025 = 0 (default) and below 50 % when Pr 04.025 = 1.

Operation of motor I2t protection

Motor I2t protection is fixed as shown below and is compatible with:

• Self ventilated (TENV/TEFC) induction motors

For constant torque applications or applications which require a high overload capability, or full torque is required at low speeds (e.g. winders, hoists). The thermal protection is set to protect force ventilated induction motors and permanent magnet servo motors by default.

N

If the application uses a self ventilated (TENV/TEFC) induction motor and increased thermal protection is required for speeds below 50 % base speed, then this can be enabled by setting Low Speed Thermal Protection Mode (04.025) = 1.

Motor I2t protection defaults to be compatible with:

• Forced ventilation induction motors

• Permanent magnet servo motors

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

.

12 Unidrive M600 Control User Guide

Issue Number: 2

Safety

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

2.5 Operating modes

The drive is designed to operate in any of the following modes:

Open loop mode

Open loop vector mode Fixed V/F mode (V/Hz) Quadratic V/F mode (V/Hz)

RFC - A

With position feedback sensor (requires optional SI-Encoder module) Without position feedback sensor (Sensorless)

RFC - S

Without position feedback sensor (Sensorless)

Regen mode

2.5.1 Open loop mode

The drive applies power to the motor at frequencies varied by the user. The motor speed is a result of the output frequency of the drive and slip due to the mechanical load. The drive can improve the speed control of the motor by applying slip compensation. The performance at low speed depends on whether V/F mode or open loop vector mode is selected.

Open loop vector mode

The voltage applied to the motor is directly proportional to the frequency except at low speed where the drive uses motor parameters to apply the correct voltage to keep the flux constant under varying load conditions.

Typically 100 % torque is available down to 1 Hz for a 50 Hz motor.

Fixed V/F mode

The voltage applied to the motor is directly proportional to the frequency except at low speed where a voltage boost is provided which is set by the user. This mode can be used for multi-motor applications.

Typically 100 % torque is available down to 4 Hz for a 50 Hz motor.

Quadratic V/F mode

The voltage applied to the motor is directly proportional to the square of the frequency except at low speed where a voltage boost is provided which is set by the user. This mode can be used for running fan or pump applications with quadratic load characteristics or for multi-motor applications. This mode is not suitable for applications requiring a high starting torque.

2.5.2 RFC-A mode

Rotor Flux Control for Asynchronous (induction) motors (RFC-A) encompasses closed loop vector control with and without a position feedback

device.

With position feedback (requires optional SI-Encoder module)

For use with induction motors with a feedback device installed. The drive directly controls the speed of the motor using the feedback device to ensure the rotor speed is exactly as demanded. Motor flux is accurately controlled at all times to provide full torque all the way down to zero speed.

Without position feedback (Sensorless)

Sensorless mode provides closed loop control without the need for position feedback by using current, voltages and key operating motor parameters

to estimate the motor speed. It can eliminate instability traditionally associated with open loop control such as operating large motors with light loads at low frequencies.

2.5.3 RFC- S

Rotor Flux Control for Synchronous (permanent magnet brushless) motors (RFC-S) provides closed loop control without a position feedback device.

Without position feedback

For use with permanent magnet brushless motors without a feedback device installed.

Flux control is not required because the motor is self excited by the permanent magnets which form part of the rotor.

Full torque is available all the way down to zero speed, with salient motors.

2.5.4 Regen mode

For use as a regenerative front end for four quadrant operation.

Regen operation allows bi-directional power flow to and from the AC supply. This provides far greater efficiency levels in applications which would otherwise dissipate large amounts of energy in the form of heat in a braking resistor.

The harmonic content of the input current is negligible due to the sinusoidal nature of the waveform when compared to a conventional bridge rectifier or SCR/thyristor front end.

Unidri ve M600 Control User Guide 13 Issue Number: 2

Safety

Refer to

User Guide

Model

Frame

size

Voltage

Heavy Duty

current rating

Drive format

M600-032 00050 A

Approvals

Output

voltage

Heavy Duty / Normal Duty power rating

Date code

Serial number

Input

frequency

No.of phases & Typical input current for Normal Duty rating

Heavy Duty / Normal Duty rating output current

1710

M600-074-00660-A30/37kW 1710

I/P 380-480V 50-60Hz 3ph 74A O/P 0-480V 3ph 66/79A

Designed in UK Made in U.K. Serial No: 3000005001

No. of Input phase & Input current

No. of Output phase &

Output current

Heavy Duty/

Normal Duty Rating

Model

Input

frequency

Heavy Duty / Normal Duty

power rating

Date code

Approvals

Serial number

Input

voltage

Output

voltage

Large label*

Key to approvals

CE approval Europe

RCM - Regulatory Compliance Mark

Australia

UL / cUL approval

USA &

Canada

RoHS compliant Europe

Eurasian conformity Eurasia

Functional safety

USA &

Canada

R

NOTE

information

Product

information

Mechanical

installation

Electrical

installation

2.6 Nameplate description

Figure 2-2 Typical drive rating labels

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

* This label is only applicable to Size 7 and above.

Refer to Figure 2-1 Model number on page 11 for further information relating to the labels.

Date code format

The date code is four numbers. The first two numbers indicate the year and the remaining numbers indicate the week of the year in which the drive was built.

Example:

A date code of 1710 would correspond to week 10 of year 2017.

14 Unidrive M600 Control User Guide

Issue Number: 2

Safety

8

WARN ING

information

Product

information

Mechanical

installation

Electrical

installation

2.7 Options

Figure 2-3 Options available with the drive

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

1. Keypad

2. Option module slot 1

3. Option module slot 2

4. Option module slot 3

5. CT USB Comms cable

6. Internal braking resistor

7. NV media card (* For further information refer to chapter 8 NV Media Card Operation on page 99).

8. KI-485 comms adaptor

Be aware of possible live terminals when inserting or removing the NV media card.

Unidri ve M600 Control User Guide 15 Issue Number: 2

Safety

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

All standard option modules are color-coded in order to make identification easy. All modules have an identification label on top of the module. Standard option modules can be installed to any of the available option slots on the drive. The following tables shows the color-code key and gives further details on their function.

Table 2-1 Option module identification

Typ e

Option

module

Color Name Further Details

EIA 485 Comms Adaptor

N/A KI-485 Adaptor

EIA 485 Comms adaptor provides EIA 485 communication interface. This adaptor supports 115 k Baud, node addresses between 1 to 16 and 8 1 NP M serial mode.

Fieldbus

Automation

(I/O expansion)

Purple SI-PROFIBUS

Medium Grey SI-DeviceNet

Light Grey SI-CANopen

Beige SI-Ethernet

Yellow Green SI-PROFINET V2

Brown Red SI-EtherCAT

Orange SI-I/O

PROFIBUS option

PROFIBUS adapter for communications with the drive

DeviceNet option

DeviceNet adapter for communications with the drive

CANopen option

CANopen adapter for communications with the drive

External Ethernet module that supports EtherNet/IP, Modbus TCP/IP and RTMoE. The module can be used to provide high speed drive access, global connectivity and integration with IT network technologies, such as wireless networking

PROFINET V2 option

PROFINET V2 adapter for communications with the drive Note: PROFINET V2 replaces PROFINET RT.

EtherCAT option

EtherCAT adapter for communications with the drive

Extended I/O

Increases the I/O capability by adding the following combinations:

• Digital I/O

• Digital Inputs

• Analog Inputs (differential or single ended)

• Analog Output

• Relays

Light Brown SI-Encoder

Incremental encoder input interface module. Provides Closed loop Rotor Flux Control for induction motors (RFC-A) on M600.

Feedback

Dark Brown SI-Universal Encoder

Safety Yellow SI-Safety

Additional combined encoder input and output interface supporting Incremental, SinCos, HIPERFACE, EnDAT and SSI encoders.

Safety module that provides an intelligent, programmable solution to meet the IEC 61800-5-2 functional safety standard

16 Unidrive M600 Control User Guide

Issue Number: 2

Safety

1

2

3

4

5

6

7

8

9

10

11

information

Product

information

Mechanical

installation

Electrical

installation

Getting started

Basic

parameters

Running the

motor

Optimization

NV Media Card

Operation

Table 2-2 Keypad identification

Type Keypad Name Further Details

Onboard

PLC

Advanced

parameters

Diagnostics

UL

Information

KI-Keypad

LCD keypad option

Keypad with an LCD display

KI-Keypad RTC LCD keypad option

Keypad with an LCD display and real time clock

Keypad

Remote-Keypad RTC

Remote-Keypad

Remote LCD keypad option

Remote Keypad with an LCD display and real time clock

Remote LCD keypad option

Remote Keypad with an LCD display.

Table 2-3 Additional options

Type Option Name Further Details

SD Card Adaptor

Allows the drive to use an SD card for drive back-up

Back-up

SMARTCARD

Used for parameter back-up with the drive

2.8 Drive features

Figure 2-4 Features of the drive control section

Key

1. Keypad connection

4. Status LED 5. Option module slot 1 6. Option module slot 2

7. Option module slot 3 8. Relay connections 9. Control connections

10. Communications port 11. NV media card slot

2. Rating label 3. Identification label

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3 Mechanical installation

3.1 Installing / removing option modules and keypads

Power down the drive before installing / removing the option module. Failure to do so may result in damage to the product.

Figure 3-1 Installation of an option module

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Installing the first option module

Option module slots must be used in the following order: slot 3, slot 2 and slot 1 (refer to Figure 2-3 Options available with the drive on page 15 for slot numbers).

• Move the option module in direction shown (1).

• Align and insert the option module tab in to the slot provided (2), this is highlighted in the detailed view (A).

• Press down on the option module until it clicks into place.

Installing the second option module

• Move the option module in direction shown (3).

• Align and insert the option module tab in to the slot provided on the already installed option module (4), this is highlighted in the detailed view (B).

• Press down on the option module until it clicks into place. Image (5) shows two option modules fully installed.

Installing the third option module

• Repeat the above process. The drive has the facility for all three option module slots to be used at the same time, image (6) shows the three option modules installed.

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Figure 3-2 Removal of an option module

• Press down on the tab (1) to release the option module from the drive housing, the tab is highlighted in the detailed view (A).

• Tilt the option module towards you as shown (2).

• Totally remove the option module in direction shown (3).

Figure 3-3 Installation and removal of the KI-Keypad

Diagnostics

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Information

To install, align the keypad and press gently in the direction shown until it clicks into position.

To remove, reverse the installation instructions.

N

The keypad can be installed / removed while the drive is powered up and running a motor, providing that the drive is not operating in keypad mode.

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3.1.1 Real time clock battery replacement

Those keypads which have the real time clock feature contain a battery to ensure the clock works when the drive is powered down. The battery has a long life time but if the battery needs to be replaced or removed, follow the instructions below.

Low battery voltage is indicated by

low battery symbol on the keypad display.

Figure 3-4 KI-Keypad RTC (rear view)

Figure 3-4 above illustrates the rear view of the KI-Keypad RTC.

1. To remove the battery cover insert a flat head screwdriver into the slot as shown (1), push and turn anti-clockwise until the battery cover is released.

2. Replace the battery (the battery type is: CR2032).

3. Reverse point 1 above to replace battery cover.

Ensure the battery is disposed of correctly.

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4 Electrical installation

4.1 24 Vdc supply

The 24 Vdc supply connected to control terminals 1 & 2 provides the following functions:

• It can be used to supplement the drive's own internal 24 V supply

when multiple option modules are being used and the current drawn by these module is greater than the drive can supply.

• It can be used as a back-up power supply to keep the control circuits

of the drive powered up when the line power supply is removed. This allows any fieldbus modules, application modules, encoders or serial communications to continue to operate.

• It can be used to commission the drive when the line power supply is

not available, as the display operates correctly. However, the drive will be in the Under voltage state unless either line power supply or low voltage DC operation is enabled, therefore diagnostics may not be possible. (Power down save parameters are not saved when using the 24 V back-up power supply input).

• If the DC bus voltage is too low to run the main SMPS in the drive,

then the 24 V supply can be used to supply all the low voltage power requirements of the drive. Low Under Voltage Threshold Select (06.067) must also be enabled for this to happen.

On size 6 and larger, the power 24 Vdc supply (terminals 51, 52) must be connected to enable the 24 Vdc supply to be used as a backup supply, when the line power supply is removed. If the power 24 Vdc supply is not connected none of the above mentioned functions can be used, "Waiting For Power System" will be displayed on the keypad and no drive operations are possible. The location of the power 24 Vdc can be identified from Figure 4-1 Location of the 24 Vdc power supply connection on size 6 on page 21.

Table 4-1 24 Vdc Supply connections

The working voltage range of the control 24 V power supply is as follows:

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 19.2 V

Maximum continuous operating voltage 28.0 V

Minimum start up voltage 21.6 V

Maximum power supply requirement at 24 V 40 W

Recommended fuse 3 A, 50 Vdc

Minimum and maximum voltage values include ripple and noise. Ripple and noise values must not exceed 5 %.

Function Sizes 3-5 Sizes 6-11

Supplement the drive’s

internal supply

Back-up supply for the

control circuit

Terminal

1, 2

Terminal

1, 2

1 0V common

2 +24 Vdc

Terminal

1, 2

Terminal

1, 2

51, 52

The working range of the 24 V power supply is as follows:

51 0V common

52 +24 Vdc

Size 6

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 18.6 Vdc

Maximum continuous operating voltage 28.0 Vdc

Minimum startup voltage 18.4 Vdc

Maximum power supply requirement 40 W

Recommended fuse 4 A @ 50 Vdc

Size 7 to 11

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 19.2 Vdc

Maximum continuous operating voltage

30 Vdc (IEC), 26 Vdc (UL)

Minimum startup voltage 21.6 Vdc

Maximum power supply requirement 60 W

Recommended fuse 4 A @ 50 Vdc

Figure 4-1 Location of the 24 Vdc power supply connection on size 6

1. 24 Vdc power supply connection

Figure 4-2 Location of the 24 Vdc power supply connection on size 7

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Figure 4-3 Location of the 24 Vdc power supply connection on size 8

to 11

4.2 Communication connections

The drive offers a 2 wire EIA 485 interface. This enables the drive setup, operation and monitoring to be carried out with a PC or controller if required.

Figure 4-4 Location of the comms connectors

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Table 4-2 Serial communication port pin-outs

Pin Function

1 120 Ω Termination resistor

2RX TX

3 Isolated 0 V

4 +24 V (100 mA)

5 Isolated 0 V

6 TX enable

7RX\ TX\

8 RX\ TX\ (if termination resistors are required, link to pin 1)

Shell Isolated 0 V

Minimum number of connections are 2, 3, 7 and shield.

4.2.1 Isolation of the EIA 485 serial communications port

The serial PC communications port is double insulated and meets the requirements for SELV in EN 50178:1998.

In order to meet the requirements for SELV in IEC60950 (IT equipment) it is necessary for the control computer to be grounded. Alternatively, when a lap-top or similar device is used which has no provision for grounding, an isolation device must be incorporated in the communications lead.

An isolated serial communications lead has been designed to connect the drive to IT equipment (such as laptop computers), and is available from the supplier of the drive. See below for details:

Table 4-3 Isolated serial comms lead details

Part number Description

4500-0096 CT USB Comms cable

The “isolated serial communications” lead has reinforced insulation as defined in IEC60950 for altitudes up to 3,000 m.

4.2.2 Communication networks and cabling

Any isolated signal circuit has the capability to become live through accidental contact with other conductors; as such they should always be double-insulated from live parts. The routing of network and signal wires should be done so as to avoid close proximity to mains voltage cabling.

UL

Information

The EIA 485 interface provides two parallel RJ45 connectors, these are provided allowing easy daisy chaining. The drive only supports Modbus RTU protocol. See Table 4-2 for the connection details.

Standard Ethernet cables are not recommended for use when connecting drives on a EIA 485 network as they do not have the correct twisted pairs for the pinout of the serial comms port.

If an Ethernet network adaptor is inadvertently connected to a Unidrive M600 drive, a low impedance load across the EIA 485 24V is applied. If this is connected for a significant period of time, it can introduce the potential risk of damage.

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Analog Input 1+

Analog Input 3

0V

Analog Input 1-

5

8

11

6

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4.3 Control connections

4.3.1 General

Table 4-4 The control connections consist of:

Function Qty

Control parameters

available

Differential analog input 1 Mode, offset, invert, scaling 5, 6

Single ended analog input

Mode, offset, invert, scaling,

2

destination

Analog output 2 Source, scaling, 9, 10

Digital input 3

Destination, invert, logic select

Input / output mode select,

Digital input / output 3

destination / source, invert, logic select

Relay 1 Source, invert 41, 42

Drive enable (Safe Tor q u e O ff )

131

+10 V User output 1 4

+24 V User output 1 Source, invert 22

0V common 6

+24V External input 1 Destination, invert 2

Key:

Destination parameter:

Source parameter:

Indicates the parameter which is being controlled by the terminal / function

Indicates the parameter being output by the terminal

Analog - indicates the mode of operation of the terminal, i.e. voltage 0-10 V, current 4-20 mA etc.

Mode parameter:

Digital - indicates the mode of operation of the terminal, i.e. positive / negative logic (the Drive Enable terminal is fixed in positive logic), open collector.

All analog terminal functions can be programmed in menu 7. All digital terminal functions (including the relay) can be programmed in menu 8.

The control circuits are isolated from the power circuits in the drive by basic insulation (single insulation) only. The installer must ensure that the external control circuits are insulated from human contact by at least one layer of insulation (supplementary insulation) rated for use at the AC supply voltage.

Ter mina l

number

7, 8

27, 28, 29

24, 25, 26

1, 3, 11, 21,

23, 30

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ground close to the point of exit of the motor cable, to avoid this noise current spreading through the control system.

N

The Safe Torque Off drive enable terminal is a positive logic input only. It is not affected by the setting of Input Logic Polarity (08.029).

N

The common 0 V from analog signals should, wherever possible, not be connected to the same 0 V terminal as the common 0 V from digital signals. Terminals 3 and 11 should be used for connecting the 0V common of analog signals and terminals 21, 23 and 30 for digital signals. This is to prevent small voltage drops in the terminal connections causing inaccuracies in the analog signals.

N

A two wire motor thermistor can be connected to analog input 3 by connecting the thermistor between terminal 8 and any 0 V common terminal. It is also possible to connect a 4-wire thermistor to analog input 3 as shown below. Pr 07.015 and Pr 07.046 need to be set-up for the thermistor type required.

Figure 4-5 Connection of 4-wire thermistor

UL

Information

If the control circuits are to be connected to other circuits classified as Safety Extra Low Voltage (SELV) (e.g. to a personal computer), an additional isolating barrier must be included in order to maintain the SELV classification.

If any of the digital inputs (including the drive enable input) are connected in parallel with an inductive load (i.e. contactor or motor brake) then suitable suppression (i.e. diode or varistor) should be used on the coil of the load. If no suppression is used then over voltage spikes can cause damage to the digital inputs and outputs on the drive.

Ensure the logic sense is correct for the control circuit to be used. Incorrect logic sense could cause the motor to be started unexpectedly. Positive logic is the default state for the drive.

N

Any signal cables which are carried inside the motor cable (i.e. motor thermistor, motor brake) will pick up large pulse currents via the cable capacitance. The shield of these signal cables must be connected to

Unidrive M600 Control User Guide 23 Issue Number: 2

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1

11

Polarized connectors

21 31

41

42

0V common** External 24V supply

0V common**

Analog frequency/speed reference 1

Connections for

single-ended input

signal

Connections for

differential input signal

0V common**

Analog input 2

Analog input 1

0V common**

1

2

5

6

3

5

6

3

21

22

23

24

25

26

27

28

29

30

31

41

42

At zero speed

Reset

Run forward

Run reverse

Analog input 1/

input 2 select

Jog forward select

SAFE TORQUE OFF /

Drive enable*

Relay

(Over voltage

category II)

Drive OK

Speed / frequency

0V common**

Analog

frequency/speed

reference 2

4

7

11

9

10

8

Torque (active

current)

Analog input 3

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Figure 4-6 Default terminal functions

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4.3.2 Control terminal specification

1 0V common

Function

2 +24V external input

Function

Programmability

Nominal voltage +24.0 Vdc

Minimum continuous operating voltage

Maximum continuous operating voltage

Minimum start-up voltage 21.6 Vdc

Recommended power supply 40 W 24 Vdc nominal

Recommended fuse 3 A, 50 Vdc

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Common connection for all external devices

To supply the control circuit without providing a supply to the power stage

Can be switched on or off to act as a digital input by setting the source Pr 08.063 and input invert Pr 08.053

+19.2 Vdc

+28.0 Vdc

3 0V common

Function

Common connection for all external devices

4 +10V user output

Function Supply for external analog devices

Voltage 10.2 V nominal Voltage tolerance ±1 %

Nominal output current 10 mA

*The Safe Torque Off / Drive enable terminal is a positive logic input only.

** 0V common is connected to ground internally in size 9 to 11 modular drives.

Protection Current limit and trip @ 30 mA

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4 Precision reference Analog input 1

5 Non-inverting input

6 Inverting input

Default function Frequency/speed reference

Type of input

Mode controlled by: Pr 07.007

Operating in Voltage mode

Full scale voltage range ±10 V ±2 %

Maximum offset ±10 mV

Absolute maximum voltage range

Working common mode voltage range

Input resistance ≥100 kΩ

Monotonic Yes (including 0 V)

Dead band None (including 0 V)

Jumps None (including 0 V)

Maximum offset 20 mV

Maximum non linearity 0.3% of input

Maximum gain asymmetry 0.5 %

Input filter bandwidth single pole ~3 kHz

Operating in current mode

Current ranges

Maximum offset 250 μA

Absolute maximum voltage (reverse biased)

Equivalent input resistance ≤300 Ω

Absolute maximum current ±30 mA

Operating in thermistor input mode (in conjunction with analog input 3)

Internal pull-up voltage 2.5 V

Trip threshold resistance User defined in Pr 07.048 Short-circuit detection resistance 50 Ω ± 40 %

Common to all modes

Resolution 12 bits (11 bits plus sign)

Sample / update period

Bipolar differential analog voltage or current, thermistor input

±36 V relative to 0 V

±13 V relative to 0 V

0 to 20 mA ±5 %, 20 to 0 mA ±5 %, 4 to 20 mA ±5 %, 20 to 4 mA ±5 %

±36 V relative to 0 V

250 µs with destinations Pr 01.036, Pr 01.037, Pr 03.022 or Pr 04.008 in RFC-A and RFC-S modes. 4 ms for open loop mode and all other destinations in RFC-A or RFC-S modes.

7 Analog input 2

Default function Frequency / speed reference

Type of input

Mode controlled by... Pr 07.011

Bipolar single-ended analog voltage or unipolar current

Operating in voltage mode

Full scale voltage range ±10 V ±2 %

Maximum offset ±10 mV

Absolute maximum voltage range ±36 V relative to 0 V

Input resistance

≥100 k Ω

Operating in current mode

Current ranges

Maximum offset 250 μA

Absolute maximum voltage (reverse bias)

Absolute maximum current ±30 mA

Equivalent input resistance ≤ 300 Ω

0 to 20 mA ±5 %, 20 to 0 mA ±5 %, 4 to 20 mA ±5 %, 20 to 4 mA ±5 %

±36 V relative to 0V

Common to all modes

Resolution 12 bits (11 bits plus sign)

250 µs with destinations Pr 01.036,

Sample / update

Analog input 3

8

Pr 01.037 or Pr 03.022, Pr 04.008 in RFC-A or RFC-S. 4ms for open loop mode and all other destinations in RFC-A or RFC-S mode.

Default function Voltage input

Type of input

Mode controlled by... Pr 07.015

Bipolar single-ended analog voltage, or thermistor input

Operating in Voltage mode (default)

Voltage range ±10 V ±2 %

Maximum offset ±10 mV

Absolute maximum voltage range ±36 V relative to 0 V Input resistance ≥100 k Ω

Operating in thermistor input mode

Supported thermistor types

Internal pull-up voltage 2.5 V

Trip threshold resistance User defined in Pr 07.048

Reset resistance User defined in Pr 07.048 Short-circuit detection resistance 50 Ω ± 40 %

Din 44082, KTY 84, PT100, PT 1000, PT 2000, 2.0mA

Common to all modes

Resolution 12 bits (11 bits plus sign) Sample / update period 4 ms

Unidrive M600 Control User Guide 25 Issue Number: 2

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9 Analog output 1

10 Analog output 2

OL> Motor FREQUENCY output

Terminal 9 default function

signal RFC> SPEED output signal

Terminal 10 default function Motor active current

Type of output Bipolar single-ended analog voltage

Operating in Voltage mode (default)

Voltage range ±10 V ±5 %

Maximum offset ±120 mV

Maximum output current ±20 mA

Load resistance ≥1 k Ω

Protection 20 mA max. Short circuit protection

Common to all modes

Resolution 10-bit

Sample / update period

250 µs (output will only change at update the rate of the source parameter if slower)

11 0V common

Function

Common connection for all external devices

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24 Digital I/O 1

Digital I/O 2

25

26 Digital I/O 3

Terminal 24 default function AT ZERO SPEED output

Terminal 25 default function DRIVE RESET input

Terminal 26 default function RUN FORWARD input

Type

Input / output mode controlled by... Pr 08.031, Pr 08.032 and Pr 08.033

Positive or negative logic digital inputs, positive logic voltage source outputs

Operating as an input

Logic mode controlled by... Pr 08.029

Absolute maximum applied voltage range

Impedance >2 mA @15 V (IEC 61131-2, type 1, 6.6 k Ω)

Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)

-3 V to +30 V

Operating as an output

100 mA (DIO1 & 2 combined)

Nominal maximum output current

Maximum output current

100 mA (DIO3 & 24 V User Output Combined)

100 mA 200 mA (total including all Digital I/O)

Common to all modes

Voltage range 0 V to +24 V

Sample / Update period

2 ms (output will only change at the update rate of the source parameter)

21 0V common

Function

Common connection for all external devices

22 +24 V user output (selectable)

Terminal 22 default function +24 V user output

Can be switched on or off to act as a fourth

Programmability

Nominal output current 100 mA combined with DIO3

Maximum output current

Protection Current limit and trip

Sample / update period

digital output (positive logic only) by setting the source Pr 08.028 and source invert Pr 08.018

100 mA 200 mA (total including all Digital I/O)

2 ms when configured as an output (output will only change at the update rate of the source parameter if slower)

23 0V common

Function

Common connection for all external devices

Digital Input 4

27

28 Digital Input 5

Terminal 27 default function Terminal 28 default function

Type Negative or positive logic digital inputs

Logic mode controlled by... Pr 08.029

Voltage range 0 V to +24 V

Absolute maximum applied voltage range

Impedance >2 mA @15 V (IEC 61131-2, type 1, 6.6 k Ω)

Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)

Sample / Update period

RUN REVERSE input

Analog INPUT 1 / INPUT 2 select

-3 V to +30 V

250 µs when configured as an input with destinations Pr 06.035 or Pr 06.036. 600 µs when configured as an input with destination Pr 06.029. 2 ms in all other cases.

29 Digital Input 6

Terminal 29 default function JOG SELECT input

Type Negative or positive logic digital inputs

Logic mode controlled by... Pr 08.029

Voltage range 0 V to +24 V

Absolute maximum applied voltage range

-3 V to +30 V

Impedance

Input thresholds 10 V ±0.8 V (IEC 61131-2, type 1)

Sample / Update period

>2 mA @15 V (IEC 61131-2,

250 µs when configured as an input with destinations Pr 06.035 or Pr 06.036. 2 ms in all other cases.

type 1, 6.6 k Ω)

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30 0V common

Function

Common connection for all external devices

31 Safe Torque Off function (drive enable)

Type Positive logic only digital input

Voltage range 0 V to +24 V

Absolute maximum applied voltage 30 V

Logic Threshold 10 V ± 5 V

Low state maximum voltage for disable to SIL3 and PL e

Impedance

Low state maximum current for disable to SIL3 and PL e

Response time

The Safe Torque Off function may be used in a safety-related application in preventing the drive from generating torque in the motor to a high level of integrity. The system designer is responsible for ensuring that the complete system is safe and designed correctly according to the relevant safety standards. If the Safe Torque Off function is not required, this terminal is used for enabling the drive.

5 V

>4 mA @15 V (IEC 61131-2, type 1, 3.3

0.5 mA

Nominal: 8 ms Maximum: 20 ms

Refer to section 4.4 for further information.

41

Relay contacts

42

Default function Drive healthy indicator

Contact voltage rating

Contact maximum current rating

Contact minimum recommended rating

240 Vac, Installation over-voltage category II

2 A AC 240 V 4 A DC 30 V resistive load

0.5 A DC 30 V inductive load (L/R = 40 ms)

12 V 100 mA

k Ω)

51 0V common

52 +24 Vdc

Size 6

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 18.6 Vdc

Maximum continuous operating voltage 28.0 Vdc

Minimum startup voltage 18.4 Vdc

Maximum power supply requirement 40 W

Recommended fuse 4 A @ 50 Vdc

Size 7 to 11

Nominal operating voltage 24.0 Vdc

Minimum continuous operating voltage 19.2 Vdc

Maximum continuous operating voltage

30 Vdc (IEC), 26 Vdc (UL)

Minimum startup voltage 21.6 Vdc

Maximum power supply requirement 60 W

Recommended fuse 4 A @ 50 Vdc

To prevent the risk of a fire hazard in the event of a fault, a fuse or other over-current protection must be installed in the relay circuit.

Contact type Normally open

Default contact condition

Update period 4 ms

Closed when power applied and drive healthy

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4.4 Safe Torque Off (STO)

The Safe Torque Off function provides a means for preventing the drive from generating torque in the motor, with a very high level of integrity. It is suitable for incorporation into a safety system for a machine. It is also suitable for use as a conventional drive enable input.

The safety function is active when the STO input is in the logic-low state as specified in the control terminal specification. The function is defined according to EN 61800-5-2 and IEC 61800-5-2 as follows. (In these standards a drive offering safety-related functions is referred to as a PDS(SR)):

'Power that can cause rotation (or motion in the case of a linear motor) is not applied to the motor. The PDS(SR) will not provide energy to the motor which can generate torque (or force in the case of a linear motor)'

This safety function corresponds to an uncontrolled stop in accordance with stop category 0 of IEC 60204-1.

The Safe Torque Off function makes use of the special property of an inverter drive with an induction motor, which is that torque cannot be generated without the continuous correct active behaviour of the inverter circuit. All credible faults in the inverter power circuit cause a loss of torque generation.

The Safe Torque Off function is fail-safe, so when the Safe Torque Off input is disconnected the drive will not operate the motor, even if a combination of components within the drive has failed. Most component failures are revealed by the drive failing to operate. Safe Torque Off is also independent of the drive firmware. This meets the requirements of the following standards, for the prevention of operation of the motor.

Machinery Applications

The Safe Torque Off function has been independently assessed by Notified Body, TüV Rheinland for use as a safety component of a machine:

Prevention of unintended motor operation: The safety function "Safe Torque Off" can be used in applications up to Cat 4. PL e according to EN ISO 13849-1, SIL 3 according to EN 61800-5-2/ EN 62061/ IEC 61508, and in lift applications according to EN 81-1 and EN81-2.

Type examination certificate number

01.205/5270.01/14 11-11-2014 M600

This certificate is available for download from the TüV Rheinland website at: http://www.tuv.com

Safety Parameters as verified by TüV Rheinland:

According to IEC 61508-1 to 07 / EN 61800-5-2 / EN 62061

Typ e Value

Proof test interval 20 years

High demand or a continuous mode of operation

PFH (1/h)

Low demand mode of operation (not EN 61800-5-2)

PFDavg

According to EN ISO 13849-1

Type Value Classification

Category 4

Performance Level (PL) e

MTTF

D

DC

avg

Mission time 20 years

Date of issue Models

Percentage of SIL

3 allowance

4.21 x 10

3.68 x 10

-11

1/h

-6

<1 %

< 1 %

>2500 years High

≥99 % High

Logic levels comply with IEC 61131-2:2007 for type 1 digital inputs rated at 24 V. Maximum level for logic low to achieve SIL3 and PL e 5 V and

0.5 mA.

Lift (Elevator) Applications

The Safe Torque Off function has been independently assessed for use as a safety component in lift (elevator) applications by Notified Body, TüV Nord:

The Unidrive M drives series with Safe Torque Off (STO) function if applied according to the "Conditions of application" fulfil the safety requirements of the standards EN81-1, EN81-2, EN 81-50 and EN60664-1and are in conformity with all relevant requirements of the Directive 95/16/EC.

Certificate of Conformity number

Date of issue Models

44799 13196202 04-08-2015 M600

The Safe Torque Off function can be used to eliminate electromechanical contactors, including special safety contactors, which would otherwise be required for safety applications.

For further information contact the supplier of the drive.

UL Approval

The Safe Torque Off function has been independently assessed by Underwriters Laboratories (UL). The on-line certification (yellow card) reference is: FSPC.E171230.

Safety Parameters as verified by UL:

According to IEC 61508-1 to 7

Typ e Value

Safety Rating SIL 3

SFF > 99 %

-10

PFH (1/h)

4.43 x 10

1/h (<1 % of SIL 3

allowance)

HFT 1

Beta Factor 2 %

CFF Not applicable

According to EN ISO 13849-1

Typ e Value

Category 4

Performance Level (PL) e

MTTF

D

2574 years

Diagnostic coverage High

CCF 65

Note on response time of Safe Torque Off, and use with safety controllers with self-testing outputs:

Safe Torque Off has been designed to have a response time of greater than 1 ms so that it is compatible with safety controllers whose outputs are subject to a dynamic test with a pulse width not exceeding 1 ms.

Note on the use of servo motors, other permanent-magnet motors, reluctance motors and salient-pole induction motors:

When the drive is disabled through Safe Torque Off, a possible (although highly unlikely) failure mode is for two power devices in the inverter circuit to conduct incorrectly.

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This fault cannot produce a steady rotating torque in any AC motor. It produces no torque in a conventional induction motor with a cage rotor. If the rotor has permanent magnets and/or saliency, then a transient alignment torque may occur. The motor may briefly try to rotate by up to 180° electrical, for a permanent magnet motor, or 90° electrical, for a salient pole induction motor or reluctance motor. This possible failure

mode must be allowed for in the machine design.

The design of safety-related control systems must only be done by personnel with the required training and experience. The Safe Torque Off function will only ensure the safety of a machine if it is correctly incorporated into a complete safety system. The system must be subject to a risk assessment to confirm that the residual risk of an unsafe event is at an acceptable level for the application.

Safe Torque Off inhibits the operation of the drive, this includes inhibiting braking. If the drive is required to provide both braking and Safe Torque Off in the same operation (e.g. for emergency stop) then a safety timer relay or similar device must be used to ensure that the drive is disabled a suitable time after braking. The braking function in the drive is provided by an electronic circuit which is not fail-safe. If braking is a safety requirement, it must be supplemented by an independent fail-safe braking mechanism.

Safe Torque Off does not provide electrical isolation. The supply to the drive must be disconnected by an approved isolation device before gaining access to power connections.

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With Safe Torque Off there are no single faults in the drive which can permit the motor to be driven. Therefore it is not necessary to have a second channel to interrupt the power connection, nor a fault detection circuit.

It is important to note that a single short-circuit from the Safe Torque Off input to a DC supply of > 5 V could cause the drive to be enabled. This can be excluded under EN ISO 13849-2 by the use of protected wiring. The wiring can be protected by either of the following methods:

• By placing the wiring in a segregated cable duct or other enclosure.

or

• By providing the wiring with a grounded shield in a positive-logic grounded control circuit. The shield is provided to avoid a hazard from an electrical fault. It may be grounded by any convenient method; no special EMC precautions are required.

It is essential to observe the maximum permitted voltage of 5 V for a safe low (disabled) state of Safe Torque Off. The connections to the drive must be arranged so that voltage drops in the 0V wiring cannot exceed this value under any loading condition. It is strongly recommended that the Safe Torque Off circuit be provided with a dedicated 0V conductor which should be connected to terminal 30 at the drive.

Safe Torque Off over-ride

The drive does not provide any facility to over-ride the Safe Torque Off function, for example for maintenance purposes.

SISTEMA software utility

A library for use with the SISTEMA software utility providing relevant parameters for Unidrive M Safe Torque Off function and SI-Safety Module is available, please contact the supplier of the drive for further info.

Unidrive M600 Control User Guide 29 Issue Number: 2

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5 Getting started

This chapter introduces the user interfaces, menu structure and security levels of the drive.

5.1 Understanding the display

The keypad can only be mounted on the drive.

5.1.1 KI-Keypad

The KI-Keypad display consists of two rows of text. The upper row shows the drive status or the menu and parameter number currently being viewed. The lower row of the display line shows the parameter value or the specific trip type. The last two characters on the first row may display special indications. If more than one of these indications is active then the indications are prioritized as shown in Table 5-2.

When the drive is powered up the lower row will show the power up parameter defined by Parameter Displayed At Power-Up (11.022).

Figure 5-1 KI-Keypad

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Table 5-1 Keypad display formats

Display formats Value

IP Address 127.000.000.000

MAC Address 01ABCDEF2345

Time 12:34:56

Date 31-12-11 or 12-31-11

Version number 01.02.02.00

Character ABCD

32 bit number with decimal point 21474836.47

16 bit binary number 0100001011100101

Text M600

Number 1.5 Hz

Table 5-2 Active action icon

Active action icon Description

Accessing non-volatile media card

Alarm active 1 2

Row

(1=top)

11

UL

Information

Priority

in row

1. Escape button

2. Start reverse (Auxiliary button)

3. Start forward

4. Navigation keys (x4)

5. Stop / Reset (red) button

6. Enter button

The red stop button is also used to reset the drive.

The parameter value is correctly displayed in the lower row of the keypad display, see table below.

or

Keypad real-time clock battery low

Drive security active and locked or unlocked

13

14

Motor map 2 active 2 1

User program running 3 1

Keypad reference active 4 1

5.2 Keypad operation

5.2.1 Control buttons

The keypad consists of:

• Navigation Keys - Used to navigate the parameter structure and

change parameter values.

• Enter / Mode button - Used to toggle between parameter edit and

view mode.

• Escape / Exit button - Used to exit from parameter edit or view

mode. In parameter edit mode, if parameter values are edited and the exit button pressed the parameter value will be restored to the value it had on entry to edit mode.

• Start forward button - Use to provide a 'Run' command if keypad

mode is selected.

• Start reverse button - Used to control the drive if keypad mode is

selected and the reverse button is activated. If Enable Auxiliary Key (06.013) = 1, then the keypad reference is toggled between run forward and run reverse each time the button is pressed. If Enable Auxiliary Key (06.013) = 2, then the button functions as a run reverse key.

• Stop / Reset button - Used to reset the drive. In keypad mode can be

used for 'Stop'.

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To enter Edit Mode, press key,

Status Mode

Parameter

Mode

Edit Mode

(Character to be edited in lower line of display flashing)

Change parameter values

using keys.

When returning to Parameter Mode use the

keys to select another parameter to change, if required

To enter Parameter Mode, press key or

Temporary Parameter Mode

Timeout

To return to Status Mode,

RO

parameter

R/W parameter

To select parameter Press

is displayed)

To return to Parameter Mode, Press key to keep the newparameter value Press key to ignore the newparameter value and return the parameter to the pre-edited value

Press key

Timeout

or

Press key

(

NOTE

Go to parameter

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Figure 5-2 Display modes

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The navigation keys can only be used to move between menus if Pr 00.049 has been set to show 'All Menus'. Refer to section 5.9 Parameter access level and security on page 36.

5.2.2 Quick access mode

The quick access mode allows direct access to any parameter without scrolling through menus and parameters.

To enter the quick access mode, press and hold the Enter button on the keypad while in ‘parameter mode’.

Figure 5-3 Quick access mode

5.2.3 Keypad shortcuts

In ‘parameter mode’:

• If the up and down keypad buttons are pressed together, then the keypad display will jump to the start of the parameter menu being viewed, i.e. Pr 05.005 being viewed, when the above buttons pressed together will jump to Pr 05.000.

• If the left and right keypad buttons are pressed together,

then the keypad display will jump to the last viewed parameter in Menu 0.

In ‘parameter edit mode’:

• If the up and down keypad buttons are pressed together, then the parameter value of the parameter being edited will be set to 0.

• If the left and right keypad buttons are pressed together, the

least significant digit (furthest right) will be selected on the keypad display for editing.

Unidrive M600 Control User Guide 31 Issue Number: 2

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12

34

WARNING

NOTE

*

Menu 0

....MM.000....

00.050

00.049

00.048

00.047

00.046

00.001

00.002

00.003

00.004

00.005

Moves between parameters

Menu 41

Menu 1

Menu 2

Moves between Menus

41.029

41.028

41.027

41.026

41.025

41.001

41.002

41.003

41.004

41.005

01.001

01.002

01.003

01.004

01.005

01.050

01.049

01.048

01.047

01.046

Option module menus

(S.mm.ppp

)*

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Figure 5-4 Mode examples

1. Parameter view mode: Read write or Read only

2. Status mode: Drive healthy status

If the drive is ok and the parameters are not being edited or viewed, the upper row of the display will show one of the following:

• ‘Inhibit’, ‘Ready’ or ‘Run’.

3. Status mode: Trip status

When the drive is in trip condition, the upper row of the display will indicate that the drive has tripped and the lower row of the display will show the trip code. For further information regarding trip codes. refer to Table 11-3 Trip indications on page 185.

4. Status mode: Alarm status

During an ‘alarm’ condition the upper row of the display flashes between the drive status (Inhibit, Ready or Run, depending on what is displayed) and the alarm.

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5.3 Menu structure

The drive parameter structure consists of menus and parameters.

The drive initially powers up so that only Menu 0 can be viewed. The up and down arrow buttons are used to navigate between parameters and once Pr 00.049 has been set to 'All Menus' the left and right buttons are used to navigate between menus. For further information, refer to section 5.9 Parameter access level and security on page 36

Figure 5-5 Parameter navigation

* Can only be used to move between menus if all menus have been enabled (Pr 00.049). Refer to section 5.9 Parameter access level and security on page 36.

The menus and parameters roll over in both directions.

i.e. if the last parameter is displayed, a further press will cause the display to rollover and show the first parameter.

When changing between menus the drive remembers which parameter was last viewed in a particular menu and thus displays that parameter.

Figure 5-6 Menu structure

UL

Information

Do not change parameter values without careful

When changing the values of parameters, make a note of the new values in case they need to be entered again.

For new parameter-values to apply after the line power supply to the drive is interrupted, new values must be saved. Refer to section

5.7 Saving parameters on page 35.

consideration; incorrect values may cause damage or a safety hazard.

* The option module menus (S.mm.ppp) are only displayed if option modules are installed. Where S signifies the option module slot number and the mm.ppp signifies the menu and the parameter number of the option module's internal menus and parameter.

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Menu 0

00.004

00.005

00.006

Menu 2

02.021

Menu 1

01.014

Menu 4

04.007

5 0

150

0

150

5

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5.4 Menu 0

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. The parameters displayed in Menu 0 can be configured in Menu 22.

Appropriate parameters are copied from the advanced menus into Menu 0 and thus exist in both locations.

For further information, refer to Chapter 6 Basic parameters on page 38.

Figure 5-7 Menu 0 copying

5.5 Advanced menus

The advanced menus consist of groups or parameters appropriate to a specific function or feature of the drive. Menus 0 to 41 can be viewed on the KI-Keypad.

The option module menus (S.mm.ppp) are only displayed if option modules are installed. Where S signifies the option module slot number and the mm.ppp signifies the menu and parameter number of the option module’s internal menus and parameter.

Table 5-3 Advanced menu descriptions

Menu Description

Commonly used basic set up parameters for quick / easy

0

programming 1 Frequency / Speed reference

2Ramps 3 Speed feedback and speed control 4 Torque and current control

5 Motor control 6 Sequencer and clock 7 Analog I/O, Temperature monitoring

8 Digital I/O

Programmable logic, motorized pot, binary sum, timers and 9

scope

10 Status and trips 11 Drive set-up and identification, serial communications

12 Threshold detectors and variable selectors 13 Standard motion control 14 User PID controller

15 Option module slot 1 set-up menu 16 Option module slot 2 set-up menu 17 Option module slot 3 set-up menu

18 General option module application menu 1 19 General option module application menu 2

20 General option module application menu 3 21 Second motor parameters 22 Menu 0 set-up

23 Not allocated 28 Reserved menu 29 Reserved menu

30 Onboard user programming application menu Slot 1 Slot 1 option menus* Slot 2 Slot 2 option menus*

Slot 3 Slot 3 option menus*

*Only displayed when the option modules are installed.

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5.5.1 KI-Keypad set-up menu

To enter the keypad set-up menu press and hold the escape button on the keypad from status mode. All the keypad parameters are saved to the keypad non-volatile memory when exiting from the keypad set-up menu.

To exit from the keypad set-up menu press the escape or or

button. Below are the keypad set-up parameters.

Table 5-4 KI-Keypad set-up parameters

Parameters Range Type

Classic English (0) English (1) German (2)

Keypad.00 Language*

French (3)

RW Italian (4) Spanish (5) Chinese (6)

Keypad.01 Show Units Off (0), On (1) RW

Keypad.02 Backlight Level 0 to 100 % RW

Keypad.03 Keypad Date

Keypad.04 Keypad Time

Keypad.05

Show Raw Text Parameter Values

Keypad.06 Software Version

Keypad. 07 Language version

01.01.10 to

31.12.99

00:00:00 to 23:59:59

Off (0), On (1) RW

00.00.00.00 to

99.99.99.99

00.00.00.00 to

99.99.99.99

RO

Keypad. 08 Font version 0 to 1000 RO

Keypad. 09 Show menu names Off or on RW

It is not possible to access the keypad parameters via any communications channel.

* The languages available will depend on the keypad software version.

5.5.2 Display messages

The following tables indicate the various possible mnemonics which can be displayed by the drive and their meaning.

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Table 5-5 Status indications

Upper row

string

Description

The drive is inhibited and cannot be run. The Safe Torque Off signal is not applied to

Inhibit

Safe Torque Off terminals or Pr 06.015 is set to 0. The other conditions that can prevent the drive from enabling are shown as bits in Enable Conditions (06.010)

The drive is ready to run. The drive enable

Ready

is active, but the drive inverter is not active because the final drive run is not active

Stop The drive is stopped / holding zero speed Enabled

Run The drive is active and running Enabled

Scan

The drive is enabled in Regen mode and is trying to synchronize to the supply

Supply Loss Supply loss condition has been detected Enabled

The motor is being decelerated to zero

Deceleration

speed / frequency because the final drive run has been deactivated

dc injection The drive is applying dc injection braking Enabled

Position

Positioning / position control is active during an orientation stop

The drive has tripped and no longer

Trip

controlling the motor. The trip code appears in the lower display

Active

Under

Vol tag e

The Regen unit is enabled and synchronized to the supply

The drive is in the under voltage state either in low voltage or high voltage mode

Heat The motor pre-heat function is active Enabled

Phasing

The drive is performing a ‘phasing test on enable’

5.5.3 Alarm indications

An alarm is an indication given on the display by alternating the alarm string with the drive status string on the upper row and showing the alarm symbol in the last character in the upper row. Alarms strings are not displayed when a parameter is being edited, but the user will still see the alarm character on the upper row.

Table 5-6 Alarm indications

UL

Information

Drive

output

stage

Disabled

Enabled

Disabled

Enabled

Disabled

Enabled

Alarm string Description

Brake resistor overload. Braking Resistor Thermal

Brake Resistor

Accumulator (10.039) in the drive has reached 75.0 % of the value at which the drive will trip.

Motor Protection Accumulator (04.019) in the drive

Motor Overload

has reached 75.0 % of the value at which the drive will trip and the load on the drive is >100 %.

Regen inductor overload. Inductor Protection

Ind Overload

Accumulator (04.019) in the drive has reached

75.0 % of the value at which the drive will trip and the load on the drive is >100 %.

Drive over temperature. Percentage Of Drive

Drive Overload

Thermal Trip Level (07.036) in the drive is greater than 90 %.

Auto Tune

Limit Switch

The autotune procedure has been initialized and an autotune in progress.

Limit switch active. Indicates that a limit switch is active and that is causing the motor to be stopped.

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Table 5-7 Option module and NV media card and other status

indications at power-up

First row

string

Second row string Status

Booting Parameters Parameters are being loaded

Drive parameters are being loaded from a NV Media Card

Booting User Program User program being loaded

User program is being loaded from a NV Media Card to the drive

Booting

Option Program

User program being loaded

User program is being loaded from a NV Media Card to the option module in slot X

Writing To NV Card

Data being written to NV Media Card

Data is being written to a NV Media Card to ensure that its copy of the drive parameters is correct because the drive is in Auto or Boot mode

Waiting For Power System Waiting for power stage

The drive is waiting for the processor in the power stage to respond after power-up

Waiting For Options Waiting for an option module

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5.6 Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters. User security status (00.049) and User security code (00.034) are not affected by this procedure).

Procedure

Use the following procedure only if a different operating mode is required:

1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 06.015 is Off (0)

2. Enter either of the following values in Pr mm.000, as appropriate: 1253 (50Hz AC supply frequency) 1254 (60Hz AC supply frequency)

3. Change the setting of Pr 00.048 as follows:

Pr 00.048 setting Operating mode

1 Open-loop

2RFC-A

3RFC-S

The drive is waiting for the options modules to respond after power-up

Uploading From

Options Loading parameter database

At power-up it may be necessary to update the parameter database held by the drive because an option module has changed or because an applications module has requested changes to the parameter structure. This may involve data transfer between the drive an option modules. During this period ‘Uploading From Options’ is displayed

4 Regen

The figures in the second column apply when serial communications are used.

4. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.038 to 100.

Entering 1253 or 1254 in Pr mm.000 will only load defaults if the setting of Pr 00.048 has been changed.

5.7 Saving parameters

When changing a parameter in Menu 0, the new value is saved when

pressing the Enter button to return to parameter view mode from parameter edit mode.

If parameters have been changed in the advanced menus, then the change will not be saved automatically. A save function must be carried out.

Procedure

1. Select ‘Save Parameters'* in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000)

2. Either:

• Press the red reset button

• Toggle the reset digital input, or

• Carry out a drive reset through serial communications by setting Pr 10.038 to 100

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5.8 Restoring parameter defaults

Restoring parameter defaults by this method saves the default values in the drives memory. User security status (00.049) and User security code (00.034) are not affected by this procedure).

Procedure

1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 06.015 is Off (0)

2. Select 'Reset 50 Hz Defs' or 'Reset 60 Hz Defs' in Pr mm.000. (alternatively, enter 1233 (50 Hz settings) or 1244 (60 Hz settings) in Pr mm.000).

3. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.038 to 100

5.9 Parameter access level and security

The parameter access level determines whether the user has access to Menu 0 only or to all the advanced menus (Menus 1 to 41) in addition to Menu 0.

The User Security determines whether the access to the user is read only or read write.

Both the User Security and Parameter Access Level can operate independently of each other as shown in Table 5-8.

Table 5-8 Parameter access level and security

User

security

status

Access level

(00.049)

0 Menu 0 None RW Not visible

1 All Menus None RW RW

Read-only

2

Menu 0

3 Read-only

4 Status only

5 No access

The default settings of the drive are Parameter Access Level Menu 0 and user Security Open i.e. read / write access to Menu 0 with the advanced menus not visible.

User security (00.034)

Menu 0

status

Advanced

menu status

Open RW Not visible

Closed RO Not visible

Open RW RW

Closed RO RO

Open RW RW

Closed Not visible Not visible

Open RW RW

Closed Not visible Not visible

5.9.1 User Security Level / Access Level

The drive provides a number of different levels of security that can be set by the user via User Security Status (00.049); these are shown in the

table below.

User Security

Status

Description

(Pr 00.049)

Menu 0 (0)

All menus (1)

Read- only

Menu 0 (2)

Read-only (3)

Status only (4)

All writable parameters are available to be edited but only parameters in Menu 0 are visible

All parameters are visible and all writable parameters are available to be edited

Access is limited to Menu 0 parameters only. All parameters are read-only

All parameters are read-only however all menus and parameters are visible

The keypad remains in status mode and no parameters can be viewed or edited

The keypad remains in status mode and no

No access (5)

parameters can be viewed or edited. Drive parameters cannot be accessed via a comms/ fieldbus interface in the drive or any option module

5.9.2 Changing the User Security Level /Access Level

The security level is determined by the setting of Pr 00.049 or Pr 11.044. The Security Level can be changed through the keypad even if the User Security Code has been set.

5.9.3 User Security Code

The User Security Code, when set, prevents write access to any of the parameters in any menu.

Setting User Security Code

Enter a value between 1 and 2147483647 in Pr 00.034 and press the

button; the security code has now been set to this value. In order to activate the security, the Security level must be set to desired level in Pr 00.049. When the drive is reset, the security code will have been

activated and the drive returns to Menu 0 and the symbol is

displayed in the right hand corner of the keypad display. The value of Pr 00.034 will return to 0 in order to hide the security code.

Unlocking User Security Code

Select a parameter that need to be edited and press the button, the upper display will now show ‘Security Code’. Use the arrow buttons

to set the security code and press the button. With the correct security code entered, the display will revert to the parameter selected in edit mode.

If an incorrect security code is entered, the following message ‘Incorrect security code’ is displayed, then the display will revert to parameter view mode.

Disabling User Security

Unlock the previously set security code as detailed above. Set Pr 00.034

to 0 and press the button. The User Security has now been disabled, and will not have to be unlocked each time the drive is powered up to allow read / write access to the parameters.

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5.10 Displaying parameters with nondefault values only

By selecting 'Show non-default' in Pr mm.000 (Alternatively, enter 12000 in Pr mm.000), the only parameters that will be visible to the user will be those containing a non-default value. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr mm.000 and select 'No action' (alternatively enter a value of 0). Please note that this function can be affected by the access level enabled, refer to section 5.9 Parameter access level and security on page 36 for further information regarding access level.

5.11 Displaying destination parameters only

By selecting 'Destinations' in Pr mm.000 (Alternatively enter 12001 in Pr mm.000), the only parameters that will be visible to the user will be destination parameters. This function does not require a drive reset to become active. In order to deactivate this function, return to Pr mm.000 and select 'No action' (alternatively enter a value of 0).

Please note that this function can be affected by the access level enabled, refer to section 5.9 Parameter access level and security on page 36 for further information regarding access level.

5.12 Communications

The Unidrive M600 drive offers a 2 wire EIA 485 interface. This enables the drive set-up, operation and monitoring to be carried out with a PC or controller if required.

5.12.1 EIA 485 Serial communications

The EIA 485 interface provides two parallel RJ45 connectors allowing easy daisy chaining. The drive only supports Modbus RTU protocol.

The serial communications port of the drive is a RJ45 socket, which is isolated from the power stage and the other control terminals (see section 4.2 Communication connections on page 22 for connection and isolation details).

The communications port applies a 2 unit load to the communications network.

USB/EIA 232 to EIA 485 Communications

An external USB/EIA 232 hardware interface such as a PC cannot be used directly with the 2-wire EIA 485 interface of the drive. Therefore a suitable converter is required.

Suitable USB to EIA 485 and EIA 232 to EIA 485 isolated converters are available from Control Techniques as follows:

• CT USB Comms cable (CT Part No. 4500-0096)

• CT EIA 232 Comms cable (CT Part No. 4500-0087)

When using the CT EIA 232 Comms cable the available baud rate is limited to 19.2 k baud.

When using one of the above converters or any other suitable converter with the drive, it is recommended that no terminating resistors be connected on the network. It may be necessary to 'link out' the terminating resistor within the converter depending on which type is used. The information on how to link out the terminating resistor will normally be contained in the user information supplied with the converter.

Serial communications set-up parameters

The following parameters need to be set according to the system

requirements.

Serial communications set-up parameters

8 2 NP (0), 8 1 NP (1), 8 1 EP (2), 8 1 OP (3), 8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6),

Serial Mode

(00.035)

8 1 OP M (7), 7 2 NP (8), 7 1 NP (9), 7 1 EP (10), 7 1 OP (11), 7 2 NP M (12), 7 1 NP M (13), 7 1 EP M (14), 7 1 OP M (15)

300 (0), 600 (1), 1200 (2), 2400 (3),

Serial Baud Rate

(00.036)

4800 (4), 9600 (5), 19200 (6), 38400 (7), 57600(8), 76800(9), 115200 (10)

Serial Address

(00.037)

1 to 247

Reset Serial

Communications

0 to 1

(00.052)

Please refer to section 7.7 CT Modbus RTU specification on page 92 for further details on the CT Modbus RTU specification.

The drive only supports the Modbus RTU protocol and is always a slave. This parameter defines the supported data formats used by the EIA 485 comms port (if installed) on the drive. This parameter can be changed via the drive keypad, via a option module or via the comms interface itself.

This parameter can be changed via the drive keypad, via a option module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original baud rate. The master should wait at least 20 ms before sending a new message using the new baud rate.

This parameter defines the serial address and an addresses between 1 and 247 are permitted.

When the above parameters are modified the changes do not have an immediate effect on the serial communication system. The new values are used after the next power up or if Reset Serial Communications is set to 1.

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6 Basic parameters

Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. All the parameters in Menu 0 appear in other menus in the drive (denoted by {…}). Menu 22 can be used to configure the parameters in Menu 0.

Parameter ranges and Variable minimum/maximums:

Some parameters in the drive have a variable range with a variable minimum and a variable maximum value which is dependent on one of the following:

• The settings of other parameters

• The drive rating

• The drive mode

• Combination of any of the above

For more information please see section 10.1 Parameter ranges and Variable minimum/maximums: on page 109.

38 Unidrive M600 Control User Guide

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6.1 Menu 0: Basic parameters

Basic

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Advanced

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Diagnostics

UL

Information

Parameter

00.001 Minim um Reference Clamp {01.007} VM_NEGATIVE_REF_CLAMP1 Hz / rpm 0 Hz / rpm RW Num US

00.002 Maximum Reference Clamp1 {01.006} VM_POSITIVE_REF_CLAMP1 Hz / rpm

00.003 Acceleration Rate 1 {02.011}

00.004 Deceleration Rate 1 {02.021}

00.005 Reference Selector {01.014}

00.006 Symmetrical Current Limit {04.007} 0.0 to VM_MOTOR1_CURRENT_LIMIT % 165.0 %* 175.0 %** RW Num RA US

Open-loop Control Mode / Action On Enable

00.007

Speed Controller Proportional Gain Kp1

Low Frequency Voltage Boost {05.015} 0.0 to 25.0 % 3.0 % RW Num US

00.008

Speed Controller Integral Gain Ki1 {03.011}

Dynamic V to F Select {05.013} Off (0) or On (1) Off (0) RW Bit US

00.009

Speed Controller Differential Feedback Gain Kd 1

Motor Rpm {05.004} ±180000 rpm RO Num ND NC PT FI

00.010

Speed Feedback {03.002} VM_SPEED rpm RO Num ND NC PT FI

00.011 Output Frequency {05.001}

00.012 Current Magnitude {04.001} 0.000 to VM_DRIVE_CURRENT_UNIPOLAR A RO Bit ND NC PT FI

00.013 Torque Producing Current {04.002} VM_DRIVE_CURRENT A RO Bit ND NC PT FI

00.014 Torque Mode Selector {04.011} 0 or 1 0 to 5 0 RW Num US

00.015 Ramp Mode {02.004}

00.016 Ramp Enable {02.002} Off (0) or On (1) On (1) RW Bit US

Digital Input 6 Destination {08.026} 0.000 to 59.999 06.031 RW Nu m DE PT US

00.017

Current Reference Filter 1 Time Constant

00.019 Analog Input 2 Mode {07.011}

00.020 Analog Input 2 Destination {07.014} 00.000 to 59.999 01.037 RW Num DE PT US

00.021 Analog Input 3 Mode {07.015}

00.022 Bipolar Reference Enable {01.010} Off (0) or On (1) Off (0) RW Bit US

00.023 Jog Reference {01.005} 0.0 to 400.0 Hz

00.024 Preset Reference 1 {01.021} VM_SPEED_FREQ_REF Hz / rpm 0.0 Hz / rpm RW Num US

00.025 Preset Reference 2 {01.022} VM_SPEED_FREQ_REF Hz / rpm 0.0 Hz / rpm RW Num US

Preset Reference 3 {01.023}

00.026

Overspeed Threshold {03.008} 0 to 40000 rpm 0 rpm RW Num US

00.027 Preset Reference 4 {01.024}

00.028 Enable Auxiliary Key {06.013} Disabled (0), Forward / Reverse (1), Reverse (2) Disabled (0) RW Txt US

NV Media Card File Previously

00.029

Loaded

00.030 Parameter Cloning {11.042} None (0), Read (1), Program (2), Auto (3), Boot (4) None (0) RW Txt NC US

00.031 Rated Voltage {11.033} 200 V (0), 400 V (1), 575 V (2), 690 V (3) RO Txt ND NC PT

00.032 Maximum Heavy Duty Rating {11.032} 0.000 to 99999.999 A RO Num ND NC PT

{05.014}

{03.010} 0.0000 to 200.000 s/rad 0.0100 s/rad RW Num US

{03.012} 0.00000 to 0.65535 1/rad 0.00000 1/rad RW Num US

{04.012} 0.0 to 25.0 ms 1.0 ms 2.0 ms RW Num US

{11.036} 0 to 999 0 RO Num NC PT

OL RFC-A RFC-S OL RFC-A RFC-S

0.0 to

VM_ACCEL_RATE

s/100 Hz

0.0 to

VM_ACCEL_RATE

s/100 Hz

A1 A2 (0), A1 Preset (1), A2 Preset (2)

Preset (3), Keypad (4), Precision (5)

Ur S (0), Ur (1),

Fixed (2),

Ur Auto (3), Ur I (4),

Square (5)

VM_SPEED_FREQ

_REF Hz

Fast (0), Standard (1), Std boost (2)

4-20 mA Low (-4), 20-4 mA Low (-3),

4-20 mA Hold (-2), 20-4 mA Hold (-1), 0-2 0 mA (0),

20-0 mA (1), 4-20 mA Trip (2), 20-4 mA Trip (3),

4-20 mA (4), 20-4 mA (5), Volt (6)

Thermistor (8), Therm No Trip (9)

VM_SPEED_

FREQ_REF Hz

VM_SPEED_FREQ

_REF Hz

Range Default

50 Hz default:

50.0 Hz

60 Hz default:

60.0 Hz

0.000 to VM_ACCEL_RATE s/1000 rpm

Keypad Ref (6)

0.00 to 655.35 s2/rad 0.05 s2/rad

±2000.0 Hz RO Num ND NC PT FI

Fast (0), Standard (1) Standard (1) RW Txt US

Volt (6), Therm Short Cct (7),

0.0 to 4000.0 rpm

5.0 s/100 Hz 2.000 s/1000 rpm RW Num US

10.0 s/100 Hz 2.000 s/1000 rpm RW Num US

Typ e

50 Hz default: 1500.0 rpm 60 Hz default: 1800.0 rpm

A1 A2 (0) RW Txt US

Ur I (4) RW Txt US

Volt (6) RW Txt US

0.0 Hz / rpm RW Num US

0.0 Hz RW Num US

RW N um US

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Parameter

Catch A Spinning Motor {06.009}

00.033

Rated Speed Optimization Select {05.016}

00.034 User Security Code {11.030} 0 to 2147483647 0 RW Num ND NC PT US

00.035 Seri al Mode {11.024}

00.036 Serial Baud Rate {11.025}

00.037 Serial Address {11.023} 1 to 247 1 RW Num US

00.038 Current Controller Kp Gain {04.013} 0 to 30000 20 150 RW Num US

00.039 Current Controller Ki Gain {04.014} 0 to 30000 40 2000 RW Num US

00.040 Auto-tune {05.012} 0 to 2 0 to 5 0 to 6 0 RW Num NC

00.041 Maximum Switching Frequency {05.018}

00.042 Number Of Motor Poles {05.011} Automatic (0) to 480 Poles (240) Automatic (0) 8 Poles (4) RW Num US

00.043 Rated Power Factor*** {05.010} 0.000 to 1.000 0.850 RW Num RA US

00.044 Rated Voltage {05.009} 0 to VM_AC_VOLTAGE_SET V

00.045 Rate d Speed {05.008}

00.046 Rated Current {05.007} 0.000 to VM_RATED_CURRENT A

Rated Frequency {05.006} 0.0 to 550.0 Hz

00.047

Volts per 1000 rpm {05.033}

00.048 User Drive Mode {11.031} Open-loop (1), RFC-A (2), RFC-S (3), Regen (4) Open-loop (1) RFC-A (2) RFC-S (3) RW Txt ND NC PT

00.049 User Security Status {11.044}

00.050 Software Version {11.029} 0 to 99999999 RO Num ND NC PT

00.051 Action On Trip Detection {10.037} 00000 to 11111 00000 RW Bin US

00.052 Reset Serial Communications {11.020} Off (0) or On (1) Off (0) RW Bit ND NC

Motor Thermal Time

00.053

Constant 1

00.054 RFC Low Speed Mode {05.064}

Low Speed Sensorless

00.055

Mode Current

00.056 No-load Lq {05.072}

Iq Test Current For

00.057

Inductance Measurement

Phase Offset At Iq Test

00.058

Current

Lq At The Defined Iq Test

00.059

Current

Id Test Current for

00.060

Inductance Measurement

Lq At The Defined Id Test

00.061

Current

* For size 9 and above the default is 141.9 % ** For size 9 and above the default is 150.0 %

*** Following a rotating autotune Pr 00.043 {05.010} is continuously written by the drive, calculated from the value of Stator Inductance (Pr 05.025). To manually enter a value into Pr 00.043 {05.010},

Pr 05.025 will need to be set to 0. Please refer to the description of Pr 05.010 in the Parameter Reference Guide for further details

{04.015} 1.0 to 3000.0 s 89.0 s RW Num US

{05.071}

{05.075} 0to200% 100 % RW Num US

{05.077} ±90.0 ° 0.0 ° RW Num RA US

{05.078}

{05.082} -100 to 0 % -50 % RW Num US

{05.084}

OL RFC-A RFC-S OL RFC-A RFC-S

Disable (0),

Enable (1), Fwd Only (2), Rev Only (3)

8 2 NP (0), 8 1 NP (1), 8 1 EP (2), 8 1 OP (3),

8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6),

8 1 OP M (7), 7 2 NP (8), 7 1 NP (9), 7 1 EP (10),

7 1 OP (11), 7 2 NP M (12), 7 1 NP M (13),

300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),

9600 (5), 19200 (6), 38400 (7), 57600 (8),

2 (0) kHz, 3 (1) kHz, 4 (2) kHz, 6 (3) kHz, 8 (4) kHz,

0 to

33000 rpm

Menu 0 (0), All Menus (1), Read-only Menu 0 (2),

Read-only (3), Status Only (4), No Access (5)

Range Default

Disable (0) RW Txt US

Disabled (0),

Classic slow (1),

Classic fast (2),

Combined (3), VARs only (4),

Voltage only (5)

7 1 EP M (14), 7 1 OP M (15)

76800 (9), 115200 (10)

12 (5) kHz, 16 (6) kHz

0.00 to

33000.00 rpm

0.00 to

33000.00 rpm

0 to 10000 V

/ 1000 rpm

Injection (0),

Non-

salient (1)

Current (2),

Current No

Test (3)

0.0 to

1000.0 %

0.000 to

500.000 mH

0.000 to

500.000 mH

0.000 to

500.000 mH

Eur - 1500

USA - 1800

Maximum Heavy Duty Rating (Pr 00.032

Disabled (0) RW Txt U S

8 2 NP (0) RW Txt US

19200 (6) RW Txt US

3 (1) kHz RW Txt RA US

200V drive: 230V 50Hz default 400V drive: 400V 60Hz default 400V drive: 460V

575V drive: 575V

690V drive: 690V

rpm

50Hz: 50.0 60Hz: 60.0

Eur -

1450.00 rpm USA -

1750.00 rpm

{11.032}) A

Menu 0 (0) RW Txt ND PT

3000.00

1000 rpm

salient (1)

0.000 mH RW Num RA US

RW Num RA U S

RW Num US

rpm

RW Num RA U S

RW Num US

98 V /

RW Num US

Non-

RW Txt US

20.0 % RW Num RA US

Typ e

RW Read / Write RO Read only Num Number parameter Bit Bit parameter Txt Text string Bin Binary parameter FI Filtered

ND No default value NC Not copied PT Protected parameter RA Rating dependent US User save PS Power-down save DE Destination

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Unidri ve M600 Control User Guide 41 Issue Number: 2

Safety

00.XXX

Key

Read-write

(RW)

parameter

Read-only

(RO)

parameter

Input terminals

Output terminals

X

The parameters are all shown in their default settings

Analog

Input

2 Mode

00.019

5

6

7

Analog reference

Keypad reference

00.024

00.025

00.026

00.027

Preset Reference 1 Preset Reference 2

Preset Reference 3 Preset Reference 4

Preset frequency reference

Analog

Reference 2

00.020

??.??

Any unprotected

variable parameter

??.??

01.037

Analog

Input 2

Destination

28

29

0 1 2

3 4 5

Precision reference

Open Loop only

00.022

Bipolar Reference Enable

00.028

Enable Auxiliary Key

00.023

Jog Reference

A1.A2

A1.Preset A2.Preset

Preset

Keypad

Precision

6

01.015

Pr

set

01.050

>1

Keypad Ref

01.050

00.005

Reference

Selector

information

Product

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Figure 6-1 Menu 0 logic diagram

Electrical

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42 Unidrive M600 Control User Guide

Issue Number: 2

Safety

OL> FREQUENCY

SPEED

TORQUE

Motor

control

Speed Controller Proportional Gain KP1

OL> Catch A Spinning Motor RFC-A > Rated Speed Optimisation Select

Speed

Feedback

00.033

00.006

00.007

00.008

00.009

RFC-A, RFC-S>

Speed-loop

PID

gains

9 10 24

AT ZERO SPEED

Current Limit

Number Of Motor Poles

Rated Power Factor RatedVoltage Rated Speed Rated Current Rated Frequency

00.042 ~ 00.047

Motor

parameters

Power stage

00.007

00.008

00.009

OL>

Motor-voltage control

Estimated Motor rpm

_

+

L1 L2 L3

_

+

U V W

Resistor optional

Drive

RUN

FORWARD

RUN REVERSE

RESET

Maximum

Reference

Clamp

00.001

00.002

26 27

25

Ramps

Acceleration Rate 1

Deceleration Rate 1

RampMode

00.003

00.004

00.015

RFC-A, RFC-S modes only

00.016

Ramp Enable

Analog outputs Digital output

00.041

00.011

Maximum Switching Frequency

Output Frequency

00.014

Tor que Mode Selector

00.017

Current Reference Filter

1 Time

Constant

RFC-A,

RFC-S>

RFC-A RFC-S

Tor que

Producing

Sensorless position estimator

Current

Current Magnitude

Magnetising Current

+ BR

_

RFC-A, RFC-S

RFC-A, RFC-S>

00.010

00.013

00.012

Minimum

Reference

Clamp

Speed Controller Integral Gain KI1

Speed Controller Differential Feedback Gain Kd1

Open Loop

Control Mode

Low Frequency Voltage Boost

Dynamic V to F

Select

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6.2 Parameter descriptions

6.2.1 Pr mm.000

Pr mm.000 is available in all menus, commonly used functions are provided as text strings in Pr mm.000 shown in Table 6-1. The functions in Table 6-1 can also be selected by entering the appropriate numeric values (as shown in Table 6-2) in Pr mm.000. For example, enter 4001 in Pr mm.000 to

store drive parameters on an NV media card.

Table 6-1 Commonly used functions in xx.000

Value Equivalent value String Action

00

[No Action]

1001 1 [Save parameters] Save parameter under all conditions

6001 2

4001 3

6002 4

4002 5

6003 6

4003 7

12000 8

12001 9

1233 10

1244 11

1070 12

11001 13

[Load file 1] Load the drive parameters or user program file from NV media card file 001

[Save to file 1] Transfer the drive parameters to parameter file 001

[Load file 2] Load the drive parameters or user program file from NV media card file 002

[Save to file 2] Transfer the drive parameters to parameter file 002

[Load file 3] Load the drive parameters or user program file from NV media card file 003

[Save to file 3] Transfer the drive parameters to parameter file 003

[Show non-default] Displays parameters that are different from defaults

[Destinations] Displays parameters that are set

[Reset 50Hz Defs] Load parameters with standard (50 Hz) defaults

[Reset 60Hz Defs] Load parameters with US (60 Hz) defaults

[Reset modules] Reset all option modules

[Read Enc. NP P1]

No function

11051 14

[Read Enc. NP P2]

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Table 6-2 Functions in Pr mm.000

Value Action

1000

Save parameters when Under Voltage Active (Pr 10.016) is not active and Low Under Voltage Threshold Select mode (Pr 06.067 = Off) is not active.

1001 Save parameter under all conditions

1070 Reset all option modules

1233 Load standard (50 Hz) defaults

1234 Load standard (50 Hz) defaults to all menus except option module menus (i.e 15 to 20 and 24 to 28)

1244 Load US (60 Hz) defaults

1245 Load US (60 Hz) defaults to all menus except option module menus (i.e 15 to 20 and 24 to 28)

1253 Change drive mode and load standard (50 Hz) defaults

1254 Change drive mode and load US (60 Hz) defaults

1255 Change drive mode and load standard (50 Hz) defaults except for menus 15 to 20 and 24 to 28

1256 Change drive mode and load US (60 Hz) defaults except for menus 15 to 20 and 24 to 28

1299 Reset {Stored HF} trip.

2001* Create a boot file on a non-volatile media card based on the present drive parameters including all Menu 20 parameters

4yyy* NV media card: Transfer the drive parameters to parameter file xxx

5yyy* NV media card: Transfer the onboard user program to onboard user program file xxx

6yyy* NV media card: Load the drive parameters from parameter file xxx or the onboard user program from onboard user program file xxx

7yyy* NV media card: Erase file xxx

8yyy* NV Media card: Compare the data in the drive with file xxx

9555* NV media card: Clear the warning suppression flag

9666* NV media card: Set the warning suppression flag

9777* NV media card: Clear the read-only flag

9888* NV media card: Set the read-only flag

9999* NV media card: Erase and format the NV media card

59999 Delete onboard user program

12000** Only display parameters that are different from their default value. This action does not require a drive reset.

12001** Only display parameters that are used to set-up destinations (i.e. DE format bit is 1). This action does not require a drive reset.

40yyy Back-up all drive data.

60yyy Load all drive data.

* See Chapter 8 NV Media Card Operation on page 99 for more information on these functions.

** These functions do not require a drive reset to become active. All other functions require a drive reset to initiate the function.

To allow easy access to some commonly used functions, refer to the table overleaf. Equivalent values and strings are also provided in the table above.

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6.3 Full descriptions

Table 6-3 Key to parameter table coding

Coding Attribute

RW Read/Write: can be written by the user

RO Read only: can only be read by the user

Bit 1 bit parameter. ‘On’ or ‘Off’ on the display

Num Number: can be uni-polar or bi-polar

Txt Text: the parameter uses text strings instead of numbers.

Bin Binary parameter

IP IP Address parameter

Mac Mac Address parameter

Date Date parameter

Time Time parameter

Chr Character parameter

Filtered: some parameters which can have rapidly changing

FI

values are filtered when displayed on the drive keypad for easy viewing.

Destination: This parameter selects the destination of an

DE

input or logic function.

Rating dependent: this parameter is likely to have different values and ranges with drives of different voltage and current ratings. Parameters with this attribute will be transferred to the destination drive by non-volatile storage media when the rating of the destination drive is different

RA

from the source drive and the file is a parameter file. However, the values will be transferred if only the current rating is different and the file is a difference from default type file.

No default: The parameter is not modified when defaults are

ND

loaded

Not copied: not transferred to or from non-volatile media

NC

during copying.

PT Protected: cannot be used as a destination.

User save: parameter saved in drive EEPROM when the

US

user initiates a parameter save.

Power-down save: parameter automatically saved in drive

PS

EEPROM when the under volts (UV) state occurs.

6.3.1 Parameter x.00

00.000

{mm.000}

RW Num ND NC PT

Ú

Parameter zero

0 to 65,535

Ö

Running the

motor

Optimization

RFC-A / RFC-S

Set Pr 00.001 at the required minimum motor speed for both directions of rotation. The drive speed reference is scaled between Pr 00.001 and Pr 00.002.

00.002 {01.006} Maximum Reference Clamp

RW Num US

OL

RFC-A

RFC-S

(The drive has additional over-speed protection).

Open-loop

Set Pr 00.002 at the required maximum output frequency for both directions of rotation. The drive speed reference is scaled between Pr 00.001 and Pr 00.002. [00.002] is a nominal value; slip compensation may cause the actual frequency to be higher.

RFC-A / RFC-S

Set Pr 00.002 at the required maximum motor speed for both directions of rotation. The drive speed reference is scaled between Pr 00.001 and Pr 00.002.

For operating at high speeds see section 7.6 High speed operation on page 90.

NV Media Card

Operation

VM_POSITIVE_REF_

Ú

CLAMP1 Hz / rpm

Onboard

PLC

Advanced

parameters

Ö

Diagnostics

50Hz default: 50.0 Hz 60Hz default: 60.0 Hz

50Hz default:1500.0 rpm 60Hz default:1800.0 rpm

6.3.3 Ramps, speed reference selection, current limit

00.003 {02.011} Acceleration Rate 1

RW Num US

OL

RFC-A

RFC-S

Set Pr 00.003 at the required rate of acceleration.

Note that larger values produce lower acceleration. The rate applies in both directions of rotation.

00.004 {02.021} Deceleration Rate 1

RW Num US

OL

RFC-A

RFC-S

0.0 to VM_ACCEL_RATE

Ú

0.0 to VM_ACCEL_RATE

Ú

0.000 to

VM_ACCEL_RATE

0.000 to

VM_ACCEL_RATE

Ö

5.0 s/100 Hz

2.000 s/1000 rpm

10.0 s/100 Hz

2.000 s/1000 rpm

UL

Information

6.3.2 Speed limits

00.001 {01.007} Minimum Reference Clamp

RW Num US

OL

RFC-A

RFC-S

(When the drive is jogging, [00.001] has no effect.)

Open-loop

Set Pr 00.001 at the required minimum output frequency of the drive for both directions of rotation. The drive speed reference is scaled between Pr 00.001 and Pr 00.002. [00.001] is a nominal value; slip compensation may cause the actual frequency to be higher.

VM_NEGATIVE_REF_

Ú

CLAMP1 Hz / rpm

Ö

0.0 Hz

0.0 rpm

Set Pr 00.004 at the required rate of deceleration.

Note that larger values produce lower deceleration. The rate applies in both directions of rotation.

46 Unidrive M600 Control User Guide

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00.006[]

T

R

T

RATED

--------------------

100×=

00.006[]

I

R

I

RATED

-------------------

100×=

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00.005 {01.014} Reference Selector

RW Txt US

OL

RFC-A

RFC-S

A1 A2 (0), A1 Preset (1), A2 Preset (2),

Ú

Preset (3), Keypad (4), Precision (5),

Ö

A1 A2 (0)

Keypad Ref (6)

Use Pr 00.005 to select the required frequency/speed reference as follows:

Setting Description

A1 A2 0

Analog input 1 OR analog input 2 selectable by digital input, terminal 28

A1 Preset 1 Analog input 1 OR preset frequency/speed

A2 Preset 2 Analog input 2 OR preset frequency/speed

Preset 3 Pre-set frequency/speed

Keypad 4 Keypad mode

Precision 5 Precision reference

Keypad Ref 6 Keypad Reference

00.006 {04.007} Symmetrical Current Limit

RW Num US

OL

RFC-A

RFC-S

0.0 to VM_MOTOR1_

Ú

CURRENT_LIMIT %

Ö

165 %

175 %

Pr 00.006 limits the maximum output current of the drive (and hence maximum motor torque) to protect the drive and motor from overload.

Set Pr 00.006 at the required maximum torque as a percentage of the rated torque of the motor, as follows:

(%)

Where:

Required maximum torque

T

R

Motor rated torque

T

RATED

Alternatively, set Pr 00.006 at the required maximum active (torque- producing) current as a percentage of the rated active current of the motor, as follows:

6.3.4 Voltage boost, (open-loop), Speed-loop PID gains (RFC-A / RFC-S)

00.007 {05.014} Open-loop Control Mode (OL)

00.007 {03.010} Speed Controller Proportional Gain Kp1 (RFC)

RW

Txt / Num

Ur S (0), Ur (1),

OL

Fixed (2), Ur Auto (3),

Ú

Ö

Ur I (4), Square (5)

RFC-A

RFC-S

0.0000 to 200.000 s/rad

Ú

Ö

0.0100 s/rad

Open-loop

There are six voltage modes available, which fall into two categories, vector control and fixed boost. For further details, refer to section

7.1.1 Open loop motor control on page 77.

RFC-A/ RFC-S

Pr 00.007 (03.010) operates in the feed-forward path of the speedcontrol loop in the drive. See Figure 10-4 Menu 3 RFC-A, RFC-S logic diagram on page 128 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 7 Optimization on page 77.

00.008 {05.015} Low Frequency Voltage Boost (OL)

00.008 {03.011} Speed Controller Integral Gain Ki1 (RFC)

RW Num US

OL

Ú

0.0 to 25.0 %

Ö

RFC-A

RFC-S

Ú

0.00 to 655.35 s2/rad

Ö

0.05 s2/rad

Open-loop

When Open-loop Control Mode (00.007) is set at Fd or SrE, set Pr 00.008 (05.015) at the required value for the motor to run reliably at low speeds.

Excessive values of Pr 00.008 can cause the motor to be overheated.

RFC-A/ RFC-S

Pr 00.008 (03.011) operates in the feed-forward path of the speed- control loop in the drive. For information on setting up the speed controller gains See section 10.4 Menu 3: Speed feedback and speed control on page 127. For information on setting up the speed controller gains, refer to Chapter 7 Optimization on page 77.

US

Ur I (4)

3.0 %

Where:

Unidri ve M600 Control User Guide 47 Issue Number: 2

Required maximum active current

I

R

Motor rated active current

I

RATED

(%)

00.009 {05.013} Dynamic V to F Select (OL)

00.009 {03.012}

Speed Controller Differential Feedback Gain Kd 1 (RFC)

RW Bit US

OL

RFC-A

RFC-S

Ú

Off (0) or On (1)

0.00000 to

0.65535 1/rad

Ö

Off (0)

0.00000 1/rad

Open-loop

Set Pr 00.009 (05.013) at 0 when the V/f characteristic applied to the motor is to be fixed. It is then based on the rated voltage and frequency of the motor.

Set Pr 00.009 at 1 when reduced power dissipation is required in the motor when it is lightly loaded. The V/f characteristic is then variable resulting in the motor voltage being proportionally reduced for lower motor currents. Figure 6-2 shows the change in V/f slope when the motor current is reduced.

Safety

Motor

voltage

Frequency

AC supply

voltage

IMOTOR

Active current

Total current

Magnetising current

information

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Figure 6-2 Fixed and variable V/f characteristics

RFC-A / RFC-S

Pr 00.009 (03.012) operates in the feedback path of the speed-control loop in the drive. See Figure 10-4 Menu 3 RFC-A, RFC-S logic diagram on page 128 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 7 Optimization on page 77.

6.3.5 Monitoring

00.010 {05.004} Motor Rpm

RO Bit US

OL

Ú

Open-loop

Pr 00.010 (05.004) indicates the value of motor speed that is estimated from the following:

02.001 Post Ramp Reference

00.042 Number Of Motor Poles

00.010 {03.002} Speed Feedback

RO Num FI ND NC PT

RFC-A

RFC-S

Ú

RFC-A / RFC-S

Pr 00.010 (03.002) indicates the value of motor speed that is obtained from the speed feedback.

00.011 {05.001} Output Frequency (OL and RFC-A)

RO Num FI ND NC PT

OL

RFC-A

RFC-S

Open-loop / RFC-A / RFC-S

Pr 00.011 displays the frequency at the drive output.

±180000 rpm

VM_SPEED rpm

VM_SPEED_FREQ_R

Ú

EF Hz

±2000.0 Hz

Ö

Basic

parameters

Running the

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Diagnostics

00.012 {04.001} Current Magnitude

RO Bit FI ND NC PT

OL

RFC-A

RFC-S

VM_DRIVE_CURRENT_

Ú

0.000 to

Ö

UNIPOLAR A

Pr 00.012 displays the rms value of the output current of the drive in each of the three phases. The phase currents consist of an active component and a reactive component, which can form a resultant current vector as shown in the following diagram:

The active current is the torque producing current and the reactive current is the magnetizing or flux-producing current.

00.013 {04.002} Torque Producing Current

RO Bit FI ND NC PT

OL

RFC-A

VM_DRIVE_CURRENT A

Ú

Ö

RFC-S

When the motor is being driven below its rated speed, the torque is proportional to [00.013].

6.3.6 Jog reference, Ramp mode selector, Stop and torque mode selectors

Pr 00.014 is used to select the required control mode of the drive as follows:

00.014 {04.011} Torque Mode Selector

RW Num US

OL

Ú

RFC-A

Ú

RFC-S

Setting Open-Loop RFC-A/S

0 Frequency control Speed control

1 Torque control Torque control

2

3

4

5

0 or 1

0 to 5

Ö

Torque control with speed override

Coiler/uncoiler mode

Speed control with torque feed-

forward

Bi-directional torque control with

speed override

0

UL

Information

48 Unidrive M600 Control User Guide

Issue Number: 2

Safety

DC Bus voltage

Motor Speed

Programmed deceleration

rate

t

Controller operational

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Information

00.015 {02.004} Ramp Mode Select

RW Txt US

OL

RFC-A

RFC-S

Fast (0), Standard (1),

Ú

Std boost (2)

Fast (0), Standard (1)

Ö

Standard (1)

Pr 00.015 sets the ramp mode of the drive as shown below:

0: Fast ramp

Fast ramp is used where the deceleration follows the programmed deceleration rate subject to current limits. This mode must be used if a braking resistor is connected to the drive.

1: Standard ramp

Standard ramp is used. During deceleration, if the voltage rises to the standard ramp level (Pr 02.008) it causes a controller to operate, the output of which changes the demanded load current in the motor. As the controller regulates the link voltage, the motor deceleration increases as the speed approaches zero speed. When the motor deceleration rate reaches the programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. If the standard ramp voltage (Pr 02.008) is set lower than the nominal DC bus level the drive will not decelerate the motor, but it will coast to rest. The output of the ramp controller (when active) is a current demand that is fed to the frequency changing current controller (Open-loop modes) or the torque producing current controller (RFC-A or RFC-S modes). The gain of these controllers can be modified with Pr 00.038 {04.013} and Pr

00.039 {04.014}.

00.017

{08.026}

Digital Input 6 Destination

RW Num DE PT US

OL

Ú

00.000 to 59.999

Ö

06.031

Open-loop

Pr 00.017 sets the destination of digital input T29.

00.017 {04.012} Current Reference Filter Time Constant

RW Num US

RFC-A

RFC-S 2.0 ms

Ú

0.0 to 25.0 ms

Ö

1.0 ms

RFC-A / RFC-S

A first order filter, with a time constant defined by Pr 00.017, is provided on the current demand to reduce acoustic noise and vibration produced as a result of position feedback quantisation noise. The filter introduces a lag in the speed loop, and so the speed loop gains may need to be reduced to maintain stability as the filter time constant is increased.

00.019 {07.011} Analog Input 2 Mode

RW Num US

OL

RFC-A

RFC-S

4-20 mA Low (-4),

20-4 mA Low (-3), 4-20 mA Hold (-2), 20-4 mA Hold (-1),

Ú

0-20 mA (0), 20-0 mA (1),

4-20 mA Trip (2),

Ö

Volt ( 6)

20-4 mA Trip (3), 4-20 mA

(4), 20-4 mA (5), Volt (6)

In modes 2 and 3, a current loop loss trip is generated if the current falls below 3 mA.

In modes -4, -3, 2 and 3 the analog input level goes to 0.0 % if the input current falls below 3 mA.

In modes -2 and -1 the analog input remains at the value it had in the previous sample before the current fell below 3 mA.

2: Standard ramp with motor voltage boost

This mode is the same as normal standard ramp mode except that the motor voltage is boosted by 20 %. This increases the losses in the motor, dissipating some of the mechanical energy as heat giving faster deceleration.

00.016 {02.002} Ramp Enable

RW Bit US

OL

Ú Ö

RFC-A

RFC-S

Ú

Off (0) or On (1)

Ö

On (1)

Setting Pr 00.016 to 0 allows the user to disable the ramps. This is generally used when the drive is required to closely follow a speed reference which already contains acceleration and deceleration ramps.

Pr Value Pr string Comments

-4 4-20 mA Low

-3 20-4 mA Low

-2 4-20 mA Hold

-1 20-4 mA Hold

4-20 mA low value on current loss (1)

20-4 mA low value on current loss (1)

4-20 mA hold at level before loss on current loss

20-4 mA hold at level before loss on current loss

00-20 mA

1 20-0 mA

2 4-20 mA Trip 4-20 mA trip on current loss

3 20-4 mA Trip 20-4 mA trip on current loss

44-20 mA

5 20-4 mA

6Volt

00.020 {07.014} Analog Input 2 Destination

RW Num DE PT US

OL

Ú

00.000 to 59.999

Ö

01.037RFC-A

RFC-S

Pr 00.020 sets the destination of analog input 2.

Unidri ve M600 Control User Guide 49 Issue Number: 2

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00.021 {07.015} Analog Input 3 Mode

RW Txt US

OL

Ú

RFC-S

Pr value Pr string Comments

6Volt

7 Therm Short Cct

8Thermistor

9Therm No Trip

00.022 {01.010} Bipolar Reference Enable

RW Bit US

OL

Ú

RFC-S

Pr 00.022 determines whether the reference is uni-polar or bi-polar as follows:

Pr 00.022 Function

0 Unipolar speed/frequency reference

Volt ( 6),

Therm Short Cct (7),

Thermistor (8),

Therm No Trip (9)

Temperature measurement input with short circuit detection

Temperature measurement without short circuit detection

Temperature measurement input with no trips

Off (0) or On (1)

Ö

Vol t (6 )RFC-A

Off (0)RFC-A

00.025 {01.022} Preset Reference 2

RW Num US

OL

VM_SPEED_FREQ_

Ú

RFC-S

00.026 {01.023} Preset Reference 3 (OL)

00.026 {03.008} Overspeed Threshold (RFC)

RW Num US

OL

RFC-A

RFC-S

Open-loop

If the preset reference has been selected (see Pr 00.005), the speed at which the motor runs is determined by these parameters.

RFC-A / RFC-S

If the speed feedback Pr 00.010 {03.002} exceeds this level in either direction, an overspeed trip is produced. If this parameter is set to zero, the overspeed threshold is automatically set to 120 % x SPEED_FREQ_MAX.

00.027 {01.024} Preset Reference 4 (OL)

RW Num US

OL

RFC-A

RFC-S

REF Hz / rpm

VM_SPEED_FREQ_R

Ú

VM_SPEED_FREQ_R

Ú

EF Hz

0 to 40000 rpm

EF Hz

Ú Ö

Ö

0.0 Hz / rpmRFC-A

0.0 Hz / rpm

0.0

1 Bipolar speed/frequency reference

00.023 {01.005} Jog Reference

RW Num US

OL

RFC-A

RFC-S

Enter the required value of jog frequency/speed.

The frequency/speed limits affect the drive when jogging as follows:

OL

Ú

Pr 00.001 Minimum reference clamp No

Pr 00.002 Maximum reference clamp Yes

00.024 {01.021} Preset Reference 1

RW Num US

Ú

RFC-S

0.0 to 400.0 Hz

0.0 to 4000.0 rpm

Frequency-limit parameter Limit applies

VM_SPEED_FREQ_

REF Hz / rpm

Ö

0.0

0.0 Hz / rpmRFC-A

Open-loop

Refer to Pr 00.024 to Pr 00.026.

00.028 {06.013} Enable Auxiliary Key

RW Txt US

OL

Disabled (0), Forward /

Ú

Reverse (1), Reverse (2)

RFC-S

When a keypad is installed, this parameter enables the forward/reverse key.

00.029 {11.036} NV Media Card File Previously Loaded

RO Num NC PT

OL

Ú

RFC-S

This parameter shows the number of the data block last transferred from a NV Media Card to the drive.

0 to 999

Ö

Disabled (0)RFC-A

0RFC-A

50 Unidrive M600 Control User Guide

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Electrical

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Getting started

Basic

parameters

00.030 {11.42} Parameter Cloning

RW Txt NC US*

OL

RFC-S

None (0), Read (1),

Program (2), Auto (3),

Ú

Boot (4)

Ö

None (0)RFC-A

* Only a value of 3 or 4 in this parameter is saved.

If Pr 00.030 is equal to 1 or 2, this value is not transferred to the EEPROM or the drive. If Pr 00.030 is set to a 3 or 4 the value is transferred.

Running the

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Information

Open-loop

When the drive is enabled with Pr 00.033 = 0, the output frequency starts at zero and ramps to the required reference. When the drive is enabled when Pr 00.033 has a non-zero value, the drive performs a start-up test to determine the motor speed and then sets the initial output frequency to the synchronous frequency of the motor. Restrictions may be placed on the frequencies detected by the drive as follows:

Pr 00.033 Pr string Function

0 Disable Disabled

1 Enable Detect all frequencies

2 Fwd only Detect positive frequencies only

3 Rev only Detect negative frequencies only

Pr

String

Pr

value

Comment

None 0 Inactive

Read 1 Read parameter set from the NV Media Card

Program 2

Programming a parameter set to the NV Media Card

Auto 3 Auto save

Boot 4 Boot mode

For further information, please refer to Chapter 8 NV Media Card Operation on page 99.

00.031 {11.033} Drive Rated Voltage

RO Txt ND NC PT

OL

RFC-A

200 V (0), 400 V (1),

Ú

575 V (2), 690 V (3)

Ö

RFC-S

Pr 00.031 indicates the voltage rating of the drive.

00.032 {11.032} Maximum Heavy Duty Rating

RO Num ND NC PT

OL

RFC-A

0.000 to 99999.999 A

Ú

Ö

RFC-S

Pr 00.032 indicates the maximum continuous Heavy Duty current rating.

00.033 {06.009} Catch A Spinning Motor (OL)

00.033 {05.016} Rated Speed Optimization Select (RFC-A)

RW Txt US

Disable (0), Enable (1),

OL

Ú

Fwd Only (2),

Ö

Disable (0)

Rev Only (3)

Disable (0),

Classic slow (1),

RFC-A

Ú

Classic fast (2),

Combined (3),

Ö

Disable (0)

VARs only (4),

Voltage only (5)

RFC-A

The motor rated full load rpm parameter (Pr 00.045) in conjunction with the motor rated frequency parameter (Pr 00.046) defines the full load slip of the motor. The slip is used in the motor model for closed-loop vector control. The full load slip of the motor varies with rotor resistance which can vary significantly with motor temperature. When Pr 00.033 is set to 1 or 2, the drive can automatically sense if the value of slip defined by Pr 00.045 and Pr 00.046 has been set incorrectly or has varied with motor temperature. If the value is incorrect parameter Pr 00.045 is automatically adjusted. The adjusted value in Pr 00.045 is not saved at power-down. If the new value is required at the next power-up it must be saved by the user.

Automatic optimization is only enabled when the speed is above 12.5 % of rated speed, and when the load on the motor load rises above 62.5 % rated load. Optimization is disabled again if the load falls below 50 % of rated load.

For best optimization results the correct values of stator resistance (Pr 05.017), transient inductance (Pr 05.024), stator inductance (Pr 05.025) and saturation breakpoints (Pr 05.029, Pr 05.030) should be stored in the relevant parameters. These values can be obtained by the drive during an autotune (see Pr 00.040 for further details).

Rated rpm auto-tune is not available if the drive is not using external position/speed feedback.

The gain of the optimizer, and hence the speed with which it converges, can be set at a normal low level when Pr 00.033 is set to 1. If this parameter is set to 2 the gain is increased by a factor of 16 to give faster convergence.

00.034 {11.030} User security code

RW Num ND NC PT US

OL

Ú

0 to 2147483647

Ö

0RFC-A

RFC-S

If any number other than 0 is programmed into this parameter, user security is applied so that no parameters except Pr 00.049 can be adjusted with the keypad. When this parameter is read via a keypad it appears as zero. For further details refer to section 5.9.3 User Security Code on page 36.

Unidri ve M600 Control User Guide 51 Issue Number: 2

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00.035 {11.024} Serial Mode

RW Txt US

OL

RFC-A

8 2 NP (0), 8 1 NP (1), 8 1 EP (2), 8 1 OP (3),

8 2 NP M (4), 8 1 NP M (5), 8 1 EP M (6),

RFC-S

8 1 OP M (7), 7 2 NP (8),

Ú

7 1 NP (9), 7 1 EP (10),

7 1 OP (11),

Ö

8 2 NP (0)

7 2 NP M (12), 7 1 NP M (13), 7 1 EP M (14),

7 1 OP M (15)

This parameter defines the communications protocol used by the EIA 485 comms port on the drive. This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original protocol. The master should wait at least 20 ms before send a new message using the new protocol. (Note: ANSI uses 7 data bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and no parity).

Pr Value Pr String

08 2 NP

18 1 NP

28 1 EP

38 1 OP

48 2 NP M

58 1 NP M

6 8 1 EP M

78 1 OP M

87 2 NP

97 1 NP

10 7 1 EP

11 7 1 OP

12 7 2 NP M

13 7 1 NP M

14 7 1 EP M

15 7 1 OP M

The core drive always uses the Modbus rtu protocol and is always a slave. Serial Mode Pr 00.035 {11.024} defines the data format used by the serial comms interface. The bits in the value of Serial Mode Pr

00.035 {11.024} define the data format as follows. Bit 3 is always 0 in the core product as 8 data bits are required for Modbus rtu. The parameter value can be extended in derivative products which provide alternative communications protocols if required.

Bits 3 2 1 and 0

Stop bits and Parity

Format

Number of data bits 0 = 8 bits 1 = 7 bits

Register mode 0 = Standard 1 = Modified

0 = 2 stop bits, no parity 1 = 1 stop bit, no parity 2 = 1 stop bit, even parity 3 = 1 stop bit, odd parity

Bit 2 selects either standard or modified register mode. The menu and parameter numbers are derived for each mode as given in the following table. Standard mode is compatible with Unidrive SP. Modified mode is provided to allow register numbers up to 255 to be addressed. If any menus with numbers above 63 should contain more than 99 parameters, then these parameters cannot be accessed via Modbus rtu.

Register mode Register address

Standard (mm x 100) + ppp - 1 where mm ≤ 162 and ppp ≤ 99

Modified (mm x 256) + ppp - 1 where mm ≤ 63 and ppp ≤ 255

Changing the parameters does not immediately change the serial communications settings. See Reset Serial Communications Pr 00.052 {11.020} for more details.

00.036 {11.025} Serial Baud Rate

RW Txt US

OL

RFC-A

RFC-S

300 (0), 600 (1), 1200 (2),

2400 (3), 4800 (4),

9600 (5), 19200 (6),

Ú

38400 (7), 57600 (8),

76800 (9), 115200 (10)

Ö

19200 (6)

This parameter can be changed via the drive keypad, via a Solutions Module or via the comms interface itself. If it is changed via the comms interface, the response to the command uses the original baud rate. The master should wait at least 20 ms before send a new message using the new baud rate.

00.037 {11.023} Serial Address

RW Num US

OL

Ú

1 to 247

Ö

1RFC-A

RFC-S

Used to define the unique address for the drive for the serial interface. The drive is always a slave address 0 is used to globally address all slaves, and so this address should not be set in this parameter

00.038 {04.013} Current Controller Kp Gain

RW Num US

OL

RFC-A

RFC-S

Ú

0 to 30000

Ö

20

150

00.039 {04.014} Current Controller Ki Gain

RW Num US

OL

RFC-A

RFC-S

Ú

Ö

0 to 30000

ÚÖ

40

2000

These parameters control the proportional and integral gains of the current controller used in the open loop drive. The current controller either provides current limits or closed loop torque control by modifying the drive output frequency. The control loop is also used in its torque mode during line power supply loss, or when the controlled mode standard ramp is active and the drive is decelerating, to regulate the flow of current into the drive.

52 Unidrive M600 Control User Guide

Issue Number: 2

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{05.012}

00.040

Product

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Electrical

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Running the

RW Num NC

OL

RFC-S

Ú

0 to 2

0 to 5

0 to 6

Ö

0RFC-A

Open-Loop

There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating autotune should be used whenever possible so the measured value of power factor of the motor is used by the drive.

Autotune test 1:

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary test measures the Stator Resistance (05.017), Transient Inductance (05.024), Maximum Deadtime Compensation (05.059) and current at Maximum Deadtime Compensation (05.060) which are required for good performance in vector control modes (see Open Loop Control Mode (00.007), later in this table). If Enable Stator Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). The stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or

27).

Autotune test 2:

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, as above, then a rotating test is performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency (Pr

00.047 {05.006}) x

2

/3, and the frequency is maintained at that level

for 4 seconds. Stator Inductance (05.025) is measured and this value is used in conjunction with other motor parameters to calculate Rated Power Factor (05.010). To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the Drive Enable (06.015) to Off (0) or disabling the drive via the Control Word (06.042) and Control

Word Enable (06.043).

RFC-A

There are five autotune tests available in RFC-A sensorless mode, a stationary test, a rotating test and two inertia measurement tests. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive. An inertia measurement test should be performed separately to a stationary or rotating autotune see Optimization section for further details.

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

Autotune test 1:

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary autotune measures the Stator Resistance (05.017) and Transient

motor

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Inductance (05.024) of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 {04.013} and Pr 00.039 {04.014} are updated. Maximum Deadtime

Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060) for the drive are also measured. Additionally, if Enable Stator Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator Temperature

(05.046). A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Autotune test 2:

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then performed which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency Pr 00.047 {05.006}.

2

x

/3, and the frequency is maintained at the level for up to 40 s.

During the rotating autotune the Stator Inductance (05.025), and the motor saturation breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and Pr 05.063) are modified by the drive. The Rated Power Factor (Pr

05.010) is also modified by the Stator Inductance (05.035). To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Following the completion of an autotune test, the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the Drive Enable (06.015) to Off (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043).

RFC-S

There are six autotune tests available in RFC-S sensorless mode, a stationary autotune and two inertia measurement tests. Please see Optimization section for further details on the inertia tests.

Autotune test 1:

• The stationary autotune can be used to measure all the necessary parameters for basic control. The tests measures Stator Resistance (05.017), Ld (05.024), No Load Lq Pr 00.056 {05.072}, Maximum

Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060). If Enable Stator Compensation

(05.049) = 1 then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). The Stator Resistance (05.017) and the Ld (05.024) are then used to set up Current controller Kp Gain

00.038 {04.013} and Current Controller Ki Gain Pr 00.039 {04.014}. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Autotune test 2:

• In sensorless mode, if Rotating autotune is selected (Pr 00.040 = 2), then a stationary autotune is performed.

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition

before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the drive Enable Parameter (06.015) to Off (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043).

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00.041

{05.018}

Maximum Switching Frequency

RW Txt RA NC

OL

RFC-S

2 (0) kHz, 3 (1) kHz, 4 (2) kHz, 6 (3) kHz,

Ú

8 (4) kHz, 12 (5) kHz,

16 (6) kHz

Ö

3 (1) kHzRFC-A

This parameter defines the required switching frequency. The drive may automatically reduce the actual switching frequency (without changing this parameter) if the power stage becomes too hot. A thermal model of the IGBT junction temperature is used based on the heatsink temperature and an instantaneous temperature drop using the drive output current and switching frequency. The estimated IGBT junction temperature is displayed in Pr 07.034. If the temperature exceeds 135 °C the switching frequency is reduced if this is possible (i.e >3 kHz). Reducing the switching frequency reduces the drive losses and the junction temperature displayed in Pr 07.034 also reduces. If the load condition persists the junction temperature may continue to rise again above 145 °C and the drive cannot reduce the switching frequency further the drive will initiate an ‘OHt Inverter’ trip. Every second the drive will attempt to restore the switching frequency to the level set in Pr 00.041.

The full range of switching frequencies is not available on all ratings of Unidrive M. See section 7.5 Switching frequency on page 90 for the maximum available switching frequency for each drive rating.

6.3.7 Motor parameters

00.042 {05.011} Number Of Motor Poles

RW Num US

OL

RFC-A

RFC-S

Ú

Automatic (0) to 480 Poles (240)

Ö

Open-loop

This parameter is used in the calculation of motor speed, and in applying the correct slip compensation. When Automatic (0) is selected, the number of motor poles is automatically calculated from the Rated Frequency (00.047) and the Rated Speed rpm (00.045). The number of poles = 120 * rated frequency / rpm rounded to the nearest even number.

RFC-A

This parameter must be set correctly for the vector control algorithms to operate correctly. When Automatic (0) is selected, the number of motor poles is automatically calculated from the Rated Frequency (00.047) and the Rated Speed rpm (00.045) rpm. The number of poles = 120 * rated frequency / rpm rounded to the nearest even number.

RFC-S

This parameter must be set correctly for the vector control algorithms to operate correctly. When Automatic (0) is selected the number of poles is set to 6.

Automatic (0)

8 Poles (4)

00.043 {05.010} Rated Power Factor

RW Num US

OL

RFC-A

RFC-S

0.000 to 1.000

Ú

0.000 to 1.000

Ö

Ú Ö

0.850

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current.

Open-loop

The power factor is used in conjunction with the motor rated current (Pr 00.046) to calculate the rated active current and magnetizing current of the motor. The rated active current is used extensively to control the drive, and the magnetizing current is used in vector mode Rs compensation. It is important that this parameter is set up correctly.

This parameter is obtained by the drive during a rotational autotune. If a stationary autotune is carried out, then the nameplate value should be entered in Pr 00.043.

RFC-A

If the stator inductance (Pr 05.025) contains a non-zero value, the power factor used by the drive is continuously calculated and used in the vector control algorithms (this will not update Pr 00.043).

If the stator inductance is set to zero (Pr 05.025) then the power factor written in Pr 00.043 is used in conjunction with the motor rated current and other motor parameters to calculate the rated active and magnetizing currents which are used in the vector control algorithm.

This parameter is obtained by the drive during a rotational autotune. If a stationary autotune is carried out, then the nameplate value should be entered in Pr 00.043.

Following a rotating autotune Pr 00.043 {05.010} is continuously written by the drive, calculated from the value of Stator Inductance (Pr 05.025). To manually enter a value into Pr 00.043 {05.010}, Pr 05.025 will need to be set to 0. Please refer to the description of Pr 05.010 in the Parameter Reference Guide for further details

00.044 {05.009} Rated Voltage

RW Num RA US

OL

RFC-A

RFC-S

VM_AC_VOLTAGE_S

Ú

ET

0 to

Ö

200 V drive: 230 V 50Hz default 400 V drive: 400 V 60Hz default 400 V drive: 460 V

575 V drive: 575 V

690 V drive: 690 V

Enter the value from the rating plate of the motor.

00.045 {05.008} Rated Speed

RW Num ND US

OL

RFC-A

RFC-S

0 to 33000 rpm

Ú

0.00 to 33000.00 rpm

Ú

0.00 to 33000.00 rpm

Ú

50 Hz default: 1500 rpm

Ö

60 Hz default: 1800 rpm

50 Hz default: 1450.00 rpm

Ö

60 Hz default: 1750.00 rpm

Ö

3000.00 rpm

Open-loop

This is the speed at which the motor would rotate when supplied with its base frequency at rated voltage, under rated load conditions (= synchronous speed - slip speed). Entering the correct value into this parameter allows the drive to increase the output frequency as a function of load in order to compensate for this speed drop.

Slip compensation is disabled if Pr 00.045 is set to 0 or to synchronous speed, or if Pr 05.027 is set to 0.

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If slip compensation is required this parameter should be set to the value from the rating plate of the motor, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field weakening region. Slip compensation is normally used to correct for the motor speed to prevent speed variation with load. The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.

RFC-A

Rated speed is used with motor rated frequency to determine the full load slip of the motor which is used by the vector control algorithm. Incorrect setting of this parameter can result in the following:

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Failure to reach maximum speed

• Over-current trips

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes The nameplate value is normally the value for a hot machine, however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate. The rated full load rpm can be optimized by the drive (For further information, refer to section 7.1.2 RFC-A Mode on page 80).

RFC-S

The rated speed used as follows:

• Operation without position feedback i.e. sensorless Mode Active (Pr

03.078)= 1

• Where the motor operates above this speed and flux weakening is active

• In the motor thermal model

00.046 {05.007} Rated Current

RW Num RA US

OL

RFC-A

RFC-S

Enter the name-plate value for the motor rated current.

00.047 {05.006} Rated Frequency (OL, RFC-A)

00.047 {05.033} Volts per 1000 rpm (RFC-S)

RW Num US

OL

RFC-A

RFC-S

Enter the value from the rating plate of the motor.

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VM_RATED_CURRENT

Ú

0 to 10000 V / 1000 rpm

Ú

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0.0 to 550.0 Hz

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Pr 00.032 {11.032}

50 Hz default: 50.0 Hz 60 Hz default: 60.0 Hz

98 V / 1000 rpm

Basic

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Rating

Running the

6.3.8 Operating-mode selection

00.048 {11.031} User Drive Mode

RW Txt ND NC PT

OL

RFC-A

RFC-S

Open-loop (1), RFC-A (2),

Ú

RFC-S (3), Regen (4)

Ö

Open-loop (1)

RFC-A (2)

RFC-S (3)

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The settings for Pr 00.048 are as follows:

Setting Operating mode

1 Open-loop

2RFC-A

3RFC-S

4 Regen

This parameter defines the drive operating mode. Pr mm.000 must be set to ‘1253’ (European defaults) or ‘1254’ (USA defaults) before this parameter can be changed. When the drive is reset to implement any change in this parameter, the default settings of all parameters will be set according to the drive operating mode selected and saved in memory.

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6.3.9 Status information

00.049 {11.044} User Security Status

RW Txt ND PT

OL

RFC-A

RFC-S

This parameter controls access via the drive keypad as follows:

Security

(Menu 0)

(All Menus)

(Read-only

Menu 0)

(Read-only)

(Status Only)

(No Access)

The keypad can adjust this parameter even when user security is set.

00.050 {11.029} Software Version

RO Num ND NC PT

OL

RFC-A

RFC-S

The parameter displays the software version of the drive.

00.051 {10.037} Action On Trip Detection

RW Bin US

OL

RFC-S

Menu 0 (0), All Menus (1),

Read-only Menu 0 (2),

Ú

level

0

1

2

3

4

5

Ú

Read-only (3),

Status Only (4),

No Access (5)

All writable parameters are available to be edited but only parameters in Menu 0 are visible. All writable parameters are visible and available to be edited.

All parameters are read-only. Access is limited to Menu 0 parameters only.

All parameters are read-only however all menus and parameters are visible. The keypad remains in status mode and no parameters can be viewed or edited. The keypad remains in status mode and no parameters can be viewed or edited. Drive parameters cannot be accessed via a comms / fieldbus interface in the drive or any option module.

0 to 99999999

00000 to 11111

Ö

Description

Ö

Menu 0 (0)

00000RFC-A

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Each bit in this parameter has the following functions:

Bit Function

0 Stop on non-important trips

1 Disable braking resistor overload detection

2 Disable phase loss stop

3 Disable braking resistor temperature monitoring

4 Disable parameter freeze on trip

Example

Pr 00.051 {10.037} =8 (1000

Pr 00.051 {10.037} =12 (1100

) Th Brake Res trip is disabled

binary

) Th Brake Res and phase loss trip is

binary

disabled

Stop on non-important trips

If bit 0 is set to one the drive will attempt to stop before tripping if any of the following trip conditions are detected: I/O Overload, An Input 1 Loss, An Input 2 Loss or Keypad Mode.

Disable braking resistor overload detection For details of braking resistor overload detection mode see Pr 10.030.

Disable phase loss trip

Normally the drive will stop when the input phase loss condition is detected. If this bit is set to 1 the drive will continue to run and will only trip when the drive is brought to a stop by the user.

Disable braking resistor temperature monitoring

Size 3, 4 and 5 drives have an internal user install braking resistor with a thermistor to detect overheating of the resistor. As default bit 3 of Pr

00.051 {10.037} is set to zero, and so if the braking resistor and its thermistor is not installed the drive will produce a trip (Th Brake Res) because the thermistor appears to be open-circuit. This trip can be disabled so that the drive can run by setting bit 3 of Pr 00.051 {10.037} to one. If the resistor is installed then no trip is produced unless the thermistor fails, and so bit 3 of Pr 00.051 {10.037} can be left at zero. This feature only applies to size 3, 4 and 5 drives. For example if Pr

00.051 {10.037} = 8, then Th Brake Res trip will be disabled. Disable parameter freeze on trip

If this bit is 0 then the parameters listed below are frozen on trip until the trip is cleared. If this bit is 1 then this feature is disabled.

Open-loop mode RFC-A and RFC-S modes

Reference Selected (01.001) Reference Selected (01.001)

Pre-skip Filter Reference (01.002) Pre-skip Filter Reference (01.002)

Pre-ramp Reference (01.003) Pre-ramp Reference (01.003)

Post Ramp Reference (02.001) Post Ramp Reference (02.001)

Final Speed Reference (03.001)

Speed Feedback Pr 00.010

{03.002}

Speed Error (03.003)

Speed Controller Output (03.004)

Current Magnitude Pr 00.012

{04.001}

Torque Producing Current Pr

00.013 {04.002}

Current Magnitude Pr 00.012 {04.001}

Torque Producing Current Pr

00.013 {04.002}

Magnetising Current (04.017) Magnetising Current (04.017)

Output Frequency Pr 00.011

{05.001}

Output Frequency Pr 00.011 {05.001}

Output Voltage (05.002) Output Voltage (05.002)

Output Power (05.003) Output Power (05.003)

D.c. Bus Voltage (05.005) D.c. Bus Voltage (05.005)

Analog Input 1 (07.001)* Analog Input 1 (07.001)*

Analog Input 2 (07.002)* Analog Input 2 (07.002)*

Analog Input 3 (07.003)* Analog Input 3 (07.003)*

*Not applicable to Unidrive M702

00.052 {11.020} Reset Serial Communications

RW Bit ND NC

OL

Ú

Off (0) or On (1)

Ö

Off (0)RFC-A

RFC-S

When Serial Address Pr 00.037 {11.023}, Serial Mode Pr 00.035 {11.024}, Serial Baud Rate Pr 00.036 {11.025}, Minimum Comms Transmit Delay (11.026) or Silent Period (11.027) are modified the changes do not have an immediate effect on the serial communications system. The new values are used after the next power-up or if Reset

Serial Communications Pr 00.052 {11.020} is set to one. Reset Serial Communications Pr 00.052 {11.020} is automatically cleared to zero

after the communications system is updated.

00.053 {04.015} Motor Thermal Time Constatnt

RW Num US

OL

Ú

1.0 to 3000.0 s

Ö

89.0 sRFC-A

RFC-S

Pr 00.053

is the motor thermal time constant of the motor, and is used (along with the motor rated current Pr 00.046, and total motor current Pr 00.012) in the thermal model of the motor in applying thermal protection to the motor.

Setting this parameter to 0 disables the motor thermal protection.

For further details, refer to section 7.4 Motor thermal protection on page 89.

6.3.10 Additional parameters for RFC-S sensorless

control

00.054 {05.064} RFC Low Speed Mode

RW Txt US

OL

RFC-A

RFC-S

If sensorless mode is being used and is active (i.e. Sensorless Mode Active (03.078) = 1) and the motor speed is below Rated Speed (00.045)

/ 10 then a special low speed algorithm must be used to control the motor. RFC Low Speed Mode (00.054) is used to select the algorithm to be used.

0: Injection

A high frequency signal is injected into the motor to detect the motor flux axis. This can be used in a similar way to operation with position feedback except that for the drive to remain stable the speed controller bandwidth may need to be limited to 10 Hz or less and the current limit may need to be limited (see Low Speed Sensorless Mode Current (00.055)).

1: Non-salient

If the ratio Lq/Ld < 1.1 on no load then the injection mode cannot be used and this mode should be used instead. This mode does not provide the same level of control as injection mode and has the following restrictions:

• Speed control is possible, but not torque control.

• Spinning start is not possible and the motor must start from

• Below Rated Speed (00.045) / 10 it will not be possible to produce

Ú Ö

Injection (0), Non salient (1)

Ú

Current (2),

Ö

Current No Test (3)

standstill.

more than approximately 60 % to 70 % of rated torque.

Non salient (1)

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• There may be some movement of the motor shaft in either direction as the motor starts.

• It is not possible to measure the motor inertia using auto-tuning with Auto-tune (00.040) = 4.

• Normally the ramp rate should not be slower than 5 s/1000 rpm when operating in the region below Rated Speed (00.045) / 10.

• This mode is not intended to control the motor for prolonged periods below Rated Speed (00.045) / 10, but is intended to allow the motor to be started from standstill to run outside the low speed region.

• This mode is not intended to allow motor reversals. If the direction does need to be reversed, the motor should be stopped and any oscillations must die away, before the motor is restarted in the other direction.

Low Speed Sensorless Mode Current (00.055) defines a current applied in the motor d axis to aid starting. The default value is suitable for most motors with a load of up to 60% rated torque. However, in some applications this level may need to be adjusted.

2: Current

This method, which applies a rotating current vector at the frequency defined by the speed reference, can be used with any motor with no saliency or moderate saliency. It should only be used with motors where more of the torque is produced in conjunction with the magnet flux rather than from saliency torque. This mode does not provide the same level of control at low speed as injection mode, but is easier to set up and more flexible than "Non-salient" mode. The following should be considered:

1. Only speed control can be used when low speed mode operation is active.

2. A current specified by Low Speed Sensorless Mode Current (00.055) is applied when low speed mode is active. This current should be sufficient to start the motor with the highest expected load. If the motor has some saliency with no-load applied, and a suitable saturation characteristic, the drive can detect the rotor position and apply the current at the correct angle to avoid starting transient. If the motor is non-salient as defined by the conditions for Inductance trip then the drive will not attempt to detect the rotor position and the current will be applied at an arbitrary angle. This could cause a starting transient if the level of current applied is high, and so Low Speed Sensorless Mode Current (00.055) should not be set to a higher level than necessary. To minimise the movement as a result of applying the current, it is increased over the period defined by Sensorless Mode Current Ramp (05.063) in the form of a squared characteristic (i.e. it is increased with a low rate of change at the beginning and the rate of change is gradually increased).

3. It is not possible to measure the motor inertia using auto-tuning with Auto-tune (00.040) = 4.

4. As the level of current when low speed mode is active is not dependent on the applied load, but is as defined by Low Speed Sensorless Mode Current (00.055), and so the motor may become too hot if low speed mode is active for a prolonged period of time.

5. Generally Low Speed Sensorless Mode Current (00.055) should be set to a level higher than the expected maximum load, and can be set to a much higher level than the load if the saliency and saturation characteristic allow the position of the rotor to be detected on starting. However, Low Speed Sensorless Mode Current (00.055) should be matched more closely to the expected load under the following conditions: the load inertia is high compared to the motor interia, or there is very little damping/loss in the load system, or where the q axis inductance of the motor changes significantly with load.

3: Current no test

The "Current" method is used, but no attempt is made to determine the position of the rotor before applying the current. This can be selected for example, if the motor does not have a suitable saturation characteristic to allow the rotor position to be determined during starting, or if faster starting is required. The initial current vector angle will be at an arbitary position with respect to the actual rotor position. As the vector sweeps round it must make the rotor start to rotate. If the ramp rate is too high the rotor may not keep up with the current vector and the motor may not

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start. If this is the case then the ramp rate should be reduced and/or the current used to start the motor should be increased.

Torque control can be used with the "Injection" starting method in the same way as with position feedback. However if torque control is to be used in an application where the other starting methods are used then the following should be considered:

1. Torque control should not be enabled until the low speed algorithm is no longer active and the motor speed must not drop to a level where the low speed mode will become active again while torque control is active. This means that the motor must be started in speed control and torque control should only be selected when the speed is high enough.

2. To stop the motor the drive can simply be disabled or the run should be removed for the drive to stop the motor. Removing the run causes the drive to switch from torque control to speed control, and so the motor speed can be reduced back down though the range where the low speed algorithm is active.

00.055 {05.071} Low Speed Sensorless Mode Current Limit

RW Num RA US

OL

RFC-A

RFC-S

Ú Ö

Ú

0.0 to 1000.0 %

Ö

20.0 %

Injection mode

For low speed sensorless operation with signal injection (RFC Low Speed Mode (00.054) = 0) it is necessary to have a ratio of Lq/Ld = 1.1.

Even if a motor has a larger ratio on no load, this ratio normally reduces as the q axis current is increased from zero. Low Speed Sensorless Mode Current Limit (00.055) should be set at a level that is lower than the point where the inductance ratio falls to 1.1. The value of this parameter is used to define the drive current limits when signal injection is active and prevent loss of control of the motor.

Non-salient mode

For low speed sensorless operation for non-salient motors (RFC Low Speed Mode (00.054) = 1) defines a current applied in the d axis to aid

starting. For most motors and applications requiring up to 60 % torque on starting, the default value is suitable. However the level of current may need to be increased to make the motor start.

00.056 {05.072} No-load Lq

RW Num RA US

OL

RFC-A

RFC-S

Ú

0.0000 to 500.000 mH 0.000 mH

Ú

Ö

Motor q axis inductance with no current in the motor.

00.057 {05.075} Iq Test Current For Inductance Measurement

RW Num US

OL

RFC-A

RFC-S

Ú Ö

Ú

0 to 200 %

Ö

100 %

Maximum test current level used for Iq during auto-tuning when measuring the motor inductance and phase offset as a percentage of Rated Current (00.046). This value is also used by the sensorless control algorithm to define the motor inductance and a reference frame phase offset at different levels of Iq. The values of Lq At The Defined Iq Test Current (00.059), and Phase Offset At Iq Test Current (00.058), should be the values which correspond to the test current level. For most

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motors, Phase Offset At Iq Test Current (00.058) will be zero and have little effect on the performance, however Lq is likely to vary significantly with Iq and should be set up correctly for good performance. If Lq At The

Defined Iq Test Current (00.059), or Iq Test Current For Inductance Measurement (00.057) are zero, then the estimate of Lq will not be

affected by the level of Iq, and if Phase Offset At Iq Test Current (00.058) or Iq Test Current For Inductance Measurement (00.057) are zero the phase offset will not be affected by the level of Iq.

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00.061 {05.084} Lq At The Id Test Current

RW Num US

OL

RFC-A

RFC-S

Ú Ö

0.000 to 500.000 mH

Ú

PLC

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Ö

Diagnostics

0.000 mH

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00.058 {05.077} Phase Offset At Iq Test Current

RW Num RA US

OL

RFC-A

RFC-S

Ú Ö

Ú

±90.0 °

Ö

0.0 °

This parameter defines the offset of the point of minimum inductance as an electrical angle from the point with no current in the motor, to the point with a level of Iq equivalent to Iq Test Current For Inductance Measurement (00.057). When the value is left at its default value of zero, no compensation for phase offset with changes in Iq are made. Phase Offset At Iq Test Current (00.058) is used for low speed RFC sensorless control using injection mode. A positive value advances the point of minimum inductance with positive Iq. See RFC Low Speed Mode (00.054). For most motors a value of zero is acceptable.

00.059 {05.078} Lq At The Defined Iq Test Current

RW Num RA US

OL

RFC-A

RFC-S

Ú Ö

0.000 to 500.000 mH

Ú

Ö

0.000 mH

Motor q axis inductance with no current in the d axis and the current defined by Iq Test Current For Inductance Measurement (00.057) in the q axis of the motor. If this parameter is left at its default value of zero, then no compensation is made to the value of Lq with changes in Iq.

Motor q axis inductance with no current in the q axis and the current defined by Id Test Current for Inductance Measurement (00.060) in the d axis of the motor. If this parameter is left at its default value of zero then no compensation is made to the value of Lq with changes in Id.

00.060 {05.082} Id Test Current For Inductance Measurement

RW Num US

OL

RFC-A

RFC-S

Ú Ö

Ú

-100 to 0 %

Ö

- 50 %

Minimum test current level used for Id during auto-tuning when measuring the motor inductance as a percentage of Rated Current (00.046). This is then used in a similar way as Iq Test Current For Inductance Measurement (00.057), to estimate the value of Lq used in the control algorithms as Id changes. If Lq At The Defined Id Test Current (00.061), or Id Test Current for Inductance Measurement (00.060) are set to zero, then no compensation is made for changes in Lq with Id.

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6 Running the motor

This chapter takes the new user through all the essential steps to running a motor for the first time, in each of the possible operating modes.

For information on tuning the drive for the best performance, see Chapter 7 Optimization on page 77.

Ensure that no damage or safety hazard could arise from the motor starting unexpectedly.

The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 00.046 Rated Current. This affects the thermal protection of the motor.

If the drive is started using the keypad it will run to the speed defined by the keypad reference (Pr 01.017). This may not be acceptable depending on the application. The user must check in Pr 01.017 and ensure that the keypad reference has been set to 0.

If the intended maximum speed affects the safety of the machinery, additional independent over-speed protection must be used.

6.1 Quick start connections

6.1.1 Basic requirements

This section shows the basic connections which must be made for the drive to run in the required mode. For minimal parameter settings to run in each mode please see the relevant part of section 6.3 Quick start commissioning / start-up on page 64.

Table 6-1 Minimum control connection requirements for each

control mode

Drive control method Requirements

Drive enable

Terminal mode

Keypad mode Drive enable

Serial communications

Speed / Torque reference Run forward / Run reverse

Drive enable Serial communications link

6.2 Changing the operating mode

Changing the operating mode returns all parameters to their default value, including the motor parameters. User Security Status (Pr 00.049) and User Security Code (Pr 00.034) are not affected by this procedure).

Procedure

Use the following procedure only if a different operating mode is required:

1. Enter either of the following values in Pr mm.000, as appropriate: 1253 (50 Hz AC supply frequency) 1254 (60 Hz AC supply frequency)

2. Change the setting of Pr 00.048 as follows:

Pr 00.048 setting Operating mode

1 Open-loop

2RFC-A

3RFC-S

The figures in the second column apply when serial communications are used.

3. Either:

• Press the red reset button

• Toggle the reset digital input

• Carry out a drive reset through serial communications by setting Pr 10.038 to 100 (ensure that Pr. mm.000 returns to 0).

Table 6-2 Minimum requirements for each mode of operation

Operating mode Requirements

Open loop mode Induction motor

RFC – A sensorless (without feedback position)

RFC - S sensorless (without position feedback)

Induction motor without speed feedback

Permanent magnet motor without speed and position feedback

Unidri ve M600 Control User Guide 59 Issue Number: 2

Safety

Induction or permanent

magnet motor

10

11

8

9

6

7

4

5

3

Speed reference input

RUN FWD

RUN REV

24V

0V

+10V

Thermal overload for braking resistor to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault. This is not required if the optional internal braking resistor is used

2

1

T

e

r

m

i n a

l

M

o d e

K

e y

p

a d

M

o d e

Communications

port

Keypad

Optional item, must

be installed

for keypad mode

30

31

28

29

26

27

24

25

23

21

22

L1 L2 L3

Fuses

SafeTorque Off

(drive enable)

L1 L2 L3UV W

1

!

+

_

BR

Braking resistor

(optional)

UVW

RFC-A

Sensorless

Open loop

3

4

RFC-S

Sensorless

1

information

Figure 6-1 Minimum connections to get the motor running in any operating mode (size 3 and 4)

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60 Unidrive M600 Control User Guide

Issue Number: 2

Safety

Induction or permanent

magnet motor

10

11

8

9

6

7

4

5

3

Speed reference input

RUN FWD

RUN REV

24V

0V

+10V

Thermal overload for braking resistor to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault. This is not required if the optional internal braking resistor is used

2

1

T

e

r

m

i n a

l

M

o d e

K

e y

p

a d

M

o d e

Communications

port

Keypad

Optional item, must

be installed

for keypad mode

30

31

28

29

26

27

24

25

23

21

22

L1 L2 L3

Fuses

SafeTorque Off

(drive enable)

L1 L2 L3

UVW

!

+

_

BR

Braking resistor

(optional)

U

V W

RFC-A

Sensorless

Open loop

RFC-S

Sensorless

11

1

information

Figure 6-2 Minimum connections to get the motor running in any operating mode (size 5)

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Unidri ve M600 Control User Guide 61 Issue Number: 2

Safety

Induction or permanent

magnet motor

10

11

8

9

6

7

4

5

3

Speed reference input

RUN FWD

RUN REV

24V

0V

+10V

Thermal overload for braking resistor to protect against fire risk. This must be wired to interrupt the AC supply in the event of a fault. This is not required if the optional internal braking resistor is used

2

1

T e

r

m

i n a

l

M

o d e

K

e y

p

a d

M

o d e

Communications

port

Keypad

Optional item, must

be installed

for keypad mode

30

31

28

29

26

27

24

25

23

21

22

L1 L2 L3

Fuses

SafeTorque Off

(drive enable)

L1 L2 L3UV W

!

+

_

BR

Braking resistor

(optional) Size 6 only

UVW

RFC-A

Sensorless

Open loop

RFC-S

Sensorless

6

1

information

Figure 6-3 Minimum connections to get the motor running in any operating mode (size 6)

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62 Unidrive M600 Control User Guide

Issue Number: 2

Safety

Induction or permanent

magnet motor

10

11

8

9

6

7

4

5

3

Speed reference input

RUN FWD

RUN REV

24V

0V

+10V

Thermal overload for braking resistor to protect against fire risk. This must be wired to interrupt the AC supplyin the event of a fault. This is not required if the optional internal braking resistor is used

2

1

T e

r

m

i n a

l

M

o d e

K

e y

p

a d

M

o d e

Communications

port

Keypad

Optional item, must

be installed

for keypad mode

30

31

28

29

26

27

24

25

23

21

22

SafeTorque Off

(drive enable)

U

V W

UVW

L1L2L3

L2

L1

Fuses

L3

!

Braking resistor (optional)

+DC

RFC-A

Sensorless

Open loop

RFC-S

Sensorless

8

9

7

Input line

reactor*

11

1010

1011

information

Figure 6-4 Minimum connections to get the motor running in any operating mode (size 7 onwards)

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* Required for size 9E, 10E and 11E.

Unidri ve M600 Control User Guide 63 Issue Number: 2

Safety

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S 1

°

VHzmin-1kW cosφA 230 400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm 240 415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

t

100Hz

0.03

t

0.04

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a

stop. The enable signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

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∅

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L

S

R

S

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6.3 Quick start commissioning / start-up

6.3.1 Open loop

Action Detail

Ensure:

Before power-up

Power-up the drive

Enter motor nameplate details

• The drive enable signal is not given (terminal 31)

• Run signal is not given

• Motor is connected

Verify that Open Loop mode is displayed as the drive powers up. If the mode is incorrect see section

5.6 Changing the operating mode on page 35. Ensure:

• Drive displays ‘Inhibit’ If the drive trips, see Chapter 11 Diagnostics on page 183.

Enter:

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

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Set maximum frequency

Set acceleration / deceleration rates

Motor thermistor set-up

Autotune

Save parameters

Enter:

• Maximum frequency in Pr 00.002 (Hz)

Enter:

• Acceleration rate in Pr 00.003 (s/100 Hz)

• Deceleration rate in Pr 00.004 (s/100 Hz) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure Pr 10.030 and Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The motor thermistor can be selected in Pr 00.021 {07.015}. Refer to Pr 00.021 {07.015} for further information.

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A rotating autotune should be used whenever possible so the measured value of power factor of the motor is used by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. A stationary autotune measures stator resistance and transient inductance of the motor and values relating to deadtime compensation from the drive. These are required for good performance in vector control modes. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043.

• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a stationary autotune before rotating the motor at

2

/3 base speed in the direction selected. The

rotating autotune measures the power factor of the motor.

To perform an autotune:

•Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune

• Close the Drive Enable signal (terminal 31). The drive will display ’Ready’.

• Close the run signal (terminal 26 or 27). The upper row of the display will flash ’Auto Tune’ while the drive is performing the autotune.

• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill.

If the drive trips, see

Chapter 11 Diagnostics on page 183.

• Remove the drive enable and run signal from the drive.

Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press

the red reset button or toggle the reset digital input.

Run Drive is now ready to run

64 Unidrive M600 Control User Guide

Issue Number: 2

Safety

NOTE

Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUTION

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

°

VHzmin-1kW cosφA 230 400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm 240 415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

1000rpm

0.03

t

0.04

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a stop. The enable signal

must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

σ

L

S

T

Nm

N rpm

saturation

breakpoints

R

S

L

S

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6.3.2 RFC - A mode (with position feedback)

Induction motor with position feedback using optional SI-Encoder module

Only an incremental quadrature encoder as supported by the optional SI-Encoder module will be considered here.

Action Detail

Ensure:

Before power-up

Power-up the drive

Enable motor feedback and set parameters

Enter motor nameplate details

• The drive enable signal is not given (terminal 31).

• Run signal is not given

• Motor and feedback device are connected Verify that RFC-A mode is displayed as the drive powers up. If the mode is incorrect see

the operating mode

on page 35, otherwise restore parameter defaults (See section 5.8 Restoring parameter

section 5.6 Changing

defaults on page 36. Ensure:

• Drive displays ‘Inhibit’ If the drive trips, see

Chapter 11 Diagnostics on page 183.

Incremental encoder basic set-up

Set Pr 03.024 = Feedback (0) Enter:

• Encoder power supply in Pr. mm.036 = 5 V (0), 8 V (1) or 15 V (2). * If output voltage from the encoder is >5 V, then the termination resistors must be disabled Pr mm.039 to 0. *

• Drive encoder Lines Per Revolution (LPR) in Pr mm.034 (set according to encoder) *

• Drive encoder termination resistor setting in Pr mm.039: *

0 = A-A\, B-B\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled

* mm is dependant on the slot into which the SI-Encoder module is installed (15 =Slot 1, 16 = Slot 2, 17 = Slot 3).

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

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Set maximum speed

Set acceleration / deceleration rates

Motor thermistor set-up

Enter: Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000 rpm)

• Deceleration rate in Pr

Pr

10.030

, Pr

10.031

00.004

(s/1000 rpm) (If braking resistor installed, set Pr

and Pr

10.061

are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

00.015

= Fast. Also ensure

The motor thermistor can be selected in Pr 00.021 {07.015} Refer to Pr 00.021 {07.015} for further information.

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load

from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of the motor and values relating to deadtime compensation from the drive. Measured values are used to

Autotune

calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043.

• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a

stationary autotune before rotating the motor at

2

/3 base speed in the direction selected. The rotating

autotune measures the stator inductance of the motor and calculates the power factor.

To perform an autotune:

•Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune

• Close the drive enable signal (terminal 31). The drive will display ’Ready’.

• Close the run signal (terminal 26 or 27). The upper row of the display will flash ‘Auto Tune’ while the drive

is performing the autotune.

• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill

Chapter 11 Diagnostics on page 183.

mm.000

(alternatively enter a value of 1001 in Pr

mm.000

) and press red

Save parameters

If the drive trips, see

• Remove the drive enable and run signal from the drive.

Select 'Save Parameters' in Pr reset button or toggle the reset digital input.

Run Drive is now ready to run

Unidri ve M600 Control User Guide 65 Issue Number: 2

Safety

Mot X XXXXXXXXX No XXXXXXXXXX kg

IP55 I.cl F C 40 s S1

°

VHzmin-1kW cosφA 230 400

50 1445 2.20 0.80 8.50

4.90

CN = 14.5Nm 240 415

50 1445 2.20 0.76 8.50

4.90

CN = 14.4Nm

CTP- VEN 1PHASE 1=0,46A P=110W R.F 32MN

I.E.C 34 1(87)

0.02

1000rpm

0.03

t

0.04

NOTE

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the direction selected regardless of the reference provided. Once complete the motor will coast to a stop. The enable

signal must be removed before the drive can be made to run at the required reference. The drive can be stopped at any time by removing the run signal or removing the drive enable.

WARNING

cos

∅

σ

L

S

T

Nm

N rpm

saturation

breakpoints

R

S

L

S

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6.3.3 RFC - A Sensorless

Induction motor without position feedback

Action Detail

Ensure:

Before power-up

Power-up the drive

Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

• The drive enable signal is not given (terminal 31)

• Run signal is not given

• Motor is connected Verify that RFC-A mode is displayed as the drive powers up. If the mode is incorrect see section 5.6 Changing

the operating mode on page 35, otherwise restore parameter defaults (See section 5.8 Restoring parameter defaults on page 36.

Ensure:

• Drive displays ‘Inhibit’ If the drive trips, see Chapter 11 Diagnostics on page 183.

Enter:

• Motor rated frequency in Pr 00.047 (Hz)

• Motor rated current in Pr 00.046 (A)

• Motor rated speed in Pr 00.045 (rpm)

• Motor rated voltage in Pr 00.044 (V) - check if or connection

Enter:

• Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000rpm)

• Deceleration rate in Pr 00.004 (s/1000rpm) (If braking resistor installed, set Pr 00.015 = FAST. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The drive is able to perform either a stationary or a rotating autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive.

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

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• A stationary autotune can be used when the motor is loaded and it is not possible to uncouple the load from the motor shaft. The stationary autotune measures the stator resistance and transient inductance of the motor and values relating to deadtime compensation from the drive. Measured values are used to

Autotune

calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated. A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043.

• A rotating autotune should only be used if the motor is uncoupled. A rotating autotune first performs a stationary autotune before rotating the motor at 2/3 base speed in the direction selected. The rotating autotune measures the stator inductance of the motor and calculates the power factor.

To perform an autotune:

•Set Pr 00.040 = 1 for a stationary autotune or set Pr 00.040 = 2 for a rotating autotune

• Close the drive enable signal (terminal 31). The drive will display ’Ready’ or ‘Inhibit’.

• Close the run signal (terminal 26 or 27). The lower display will flash ’Autotune’ while the drive is performing the autotune.

• Wait for the drive to display ’Ready’ or ‘Inhibit’ and for the motor to come to a standstill.

If the drive trips, see Chapter 11 Diagnostics on page 183.

• Remove the drive enable and run signal from the drive.

Save parameters

Select 'Save Parameters' in Pr reset button or toggle the reset digital input.

Run Drive is now ready to run

mm.000

(alternatively enter a value of 1001 in Pr

mm.000

) and press red

66 Unidrive M600 Control User Guide

Issue Number: 2

Safety

Model No: 95UXXXXXXXXXXXX Volts: 380/480 Cont: 7.7Nm:4.81Arms Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Kt: 1.6Nm/Arms Ins Class: H

Brake: 12Nm 24V

0.67A

Serial No: XXXXXXXXXXX

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

0.02

t

1000rpm

0.03

t

0.04

Ld No-load Lq

R

S

Ef

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6.3.4 RFC-S Sensorless

Permanent magnet motor without position feedback (non Dyneo LSRPM motor)

Action Detail

Before powerup

Power-up the drive

Enter motor nameplate details

Set maximum speed

Set acceleration / deceleration rates

Autotune

Check Saliency

Save parameters

Run Drive is now ready to run

Ensure:

• The drive enable signal is not given (terminal 31).

• Run signal is not given

• Motor is connected

Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see Chapter 5.6 Changing the operating mode on page 35, otherwise restore parameter defaults (see Chapter 5.8 Restoring parameter defaults on page 36). Ensure:

• Drive displays ‘inhibit’ If the drive trips, see Chapter 11 Diagnostics on page 183.

Enter:

•Set Pr 29.200 = 0 (if parameter is present) to disable LSRPM motor quick setup system

• Motor rated current in Pr 00.046 (A) Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise ‘Motor Too Hot’ trips may occur during the autotune.

• Number of poles in Pr 00.042

• Motor rated voltage in Pr 00.044 (V)

Enter:

• Maximum speed in Pr 00.002 (rpm)

Enter:

• Acceleration rate in Pr 00.003 (s/1000 rpm)

• Deceleration rate in Pr 00.004 (s/1000 rpm) (If braking resistor installed, set Pr 00.015 = Fast. Also ensure Pr 10.030, Pr 10.031 and Pr 10.061 are set correctly, otherwise premature ‘Brake R Too Hot’ trips may be seen).

The drive is able to perform a stationary autotune. The motor must be at a standstill before an autotune is enabled. A stationary autotune will give moderate performance.

• A stationary autotune is performed to locate the flux axis of the motor. The stationary autotune measures the stator resistance, inductance in flux axis, inductance in torque axis with no load on the motor and values relating to deadtime compensation from the drive. Measured values are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 and Pr 00.039 are updated.

To perform an autotune:

•Set Pr 00.040 = 1 or 2 for a stationary autotune. (Both perform the same tests).

• Close the run signal (terminal 26 or 27).

• Close the drive enable signal (terminal 31). The upper row of the display will flash 'Auto Tune' while the drive is performing the test.

• Wait for the drive to display 'Ready' or 'Inhibit'.

If the drive trips it cannot be reset until the drive enable signal (terminal 31) has been removed. See Chapter 11 Diagnostics on page 183.

• Remove the drive enabled and run signal from the drive.

In sensorless mode, when the motor speed is below Pr 00.045 / 10, a special low speed algorithm must be used to control the motor. There are two modes available, with the mode chosen based on the saliency of the motor.

The ratio No-load Lq (Pr 00.056) / Ld (Pr 05.024) provides a measure of the saliency. If this value is > 1.1, then Injection (0) mode may be used (this is default). Current (2) mode may be used (but with limitations). If this value is <

1.1, then Current (2) mode must be used. Non-salient (1) mode is provided for LSRPM motors (this is the default).

Select 'Save Parameters' in Pr

mm.000

(alternatively enter a value of 1001 in Pr

mm.000

button or toggle the reset digital input.

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Unidri ve M600 Control User Guide 67 Issue Number: 2

Safety

Model No: 95UXXXXXXXXXXXX Volts: 380 /480 Cont: 7.7Nm:4.81Arms Stall: 9.5Nm:5.91Arms Speed: 3000rpm Poles:6 Kt: 1.6Nm/Arms Ins Class: H

Brake: 12Nm 24V

0.67A

Serial No: XXXXXXXXXXX

Control Techniques

Dynamics Ltd

ANDOVER, HANTS.

ENGLAND. SP10 5AB

0.02

t

1000rpm

0.03

t

0.04

Ld No-load Lq

R

S

Ef

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6.3.5 RFC-S mode (Sensorless) Dyneo LSRPM motor set-up with V01.12.02.00 onwards firmware

Action Detail

Ensure:

Before power-up

Power-up the drive

Enter motor nameplate details

Enter motor thermal data and switching frequency

Set maximum speed

• The drive enable signal is not given (terminal 31).

• Run signal is not given

• Motor is connected

Verify that RFC-S mode is displayed as the drive powers up. If the mode is incorrect see section

5.6 Changing the operating mode on page 35, otherwise restore parameter defaults (see section

5.8 Restoring parameter defaults on page 36). Ensure that the drive displays ‘inhibit’

Enter:

• Motor rated current in Pr 00.046 (A)*

• Rated speed in Pr 00.045 (rpm)

• Volts per 1000 rpm in Pr 00.047 (V / 1000 rpm) Motor rated voltage Pr 00.044 and number of motor poles Pr 00.042 are also required but the default values in RFC-S mode for the Unidrive M600 are set to match those required by the Dyneo LSRPM motor.

From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.

Enter:

• Motor Thermal Time Constant value into Pr 00.053 (s) from the values specified in Table 6-3 to Table 6-9 .

• Switching frequency value into Pr 00.041 (kHz) from the values specified in Table 6-3 to Table 6-9 .

Enter:

• Maximum speed in Pr 00.002 (rpm)

UL

Information

Set acceleration / deceleration rates

Autotune

Check Saliency

Save parameters

Enter:

• Acceleration rate in Pr 00.003 (s to Pr 00.002)

• Deceleration rate in Pr 00.004

Perform a stationary autotune. The motor must be at a standstill before an autotune is enabled. To perform an autotune:

•Set Pr 00.040 = 1 or 2 for a stationary autotune. (Both perform the same tests).

• Close the drive enable signal (terminal 31). The drive will display ‘Ready’ or ‘Inhibit’.

• Close the run signal (terminal 26 or 27).

• The upper row of the display will flash 'Auto Tune' during the test.

• Wait for the drive to display 'Inhibit' or ‘Ready’.

If the drive trips it cannot be reset until the drive enable signal (terminal 31) has been removed.

• Remove the drive enable from the drive.

If no trip occurs during or after the autotune then this indicates that the drive has been correctly set-up and is ready to run the Dyneo LSRPM motor. If a User Trip 40 occurs, then this indicates that the motor rated current or motor rated speed was not recognized as being a valid value for a Dyneo LSRPM motor. Check the Rated Speed (Pr 00.045) and Rated Current (Pr 00.046) entered in the drive against the Dyneo LSRPM motors listed in Table 6-3 to Table 6-9 . Correct the values and perform an autotune again.

In sensorless mode, when the motor speed is below Pr

00.045

/ 10, a special low speed algorithm must be used to control the motor. There are two modes available, with the mode chosen based on the saliency of the motor. The Dyneo LSRPM motors have little or no saliency so require the non-salient low speed mode to be used. Set Pr

00.054

to: Non-salient (1). Non-salient mode requires the ramp rate to be no slower than 5 s / 1000 rpm when operating in the region below Rated Speed Pr

00.045

/ 10. The drive contains a feature to ensure that the ramp rate during the low speed region is at least 4 s / 1000 rpm. This feature is enabled automatically after a successful set-up of the Dyneo LSRPM motor.

Select 'Save Parameters' in Pr

mm.000

(alternatively enter a value of 1001 in Pr

mm.000

) and press red

reset button or toggle the reset digital input.

Run Drive is now ready to run

*When using V01.11.01.00 firmware the Sensorless motor rated current must be used rather than the nameplate value (see Table 6-3 to Table 6-9 ).

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Table 6-3 Dyneo LSRPM 1500 rpm motors

Motor Thermal

Time Constant

Pr 00.053

LSRPM Motor model

Motor rated current

(nameplate value)

Pr 00.046*

Sensorless motor rated current after

autotune*

Switching

frequency

Pr 00.041

Ke

Pr 00.047

A A kHz V/1000 rpm s

1500 LSRPM 90SL 3 kW 5.9 6.0 3 212 850

1500 LSRPM 100L 4.5 kW 8.6 8.6 3 223 850

1500 LSRPM 100L 6 kW 10.9 10.9 3 237 850

1500 LSRPM 132M 8.2 kW 16.0 17.3 3 232 1050

1500 LSRPM 132M 10.2 kW 19.9 20.6 3 234 1050

1500 LSRPM 132M 12 kW 23.0 23.6 3 237 1050

1500 LSRPM 160MP 15.6 kW 30.0 30.0 3 241 1050

1500 LSRPM 160MP 19.2 kW 37.0 37.0 3 242 1050

1500 LSRPM 160LR 22.8 kW 43.0 43.0 3 245 1050

1500 LSRPM 200L 25 kW 56.0 60.8 3 204 900

1500 LSRPM 200L 33 kW 65.5 69.0 3 218 900

1500 LSRPM 200L / 225ST1 40 kW 82.9 82.9 3 215 900

1500 LSRPM 200LU / 250MY 55 kW 110 110 3 221 900

1500 LSRPM 225MR1 70 kW 142 142 3 218 900

1500 LSRPM 250ME / 280SCM 85 kW 175 175 3 208 1150

1500 LSRPM 280SC 105 kW 215 215 3 210 1150

1500 LSRPM 280SD / 315SN 125 kW 245 245 3 228 1150

1500 LSRPM 280MK1 / 315MP1 145 kW 265 273 3 219 2600

1500 LSRPM 315SP1 175 kW 350 350 3 213 2600

1500 LSRPM 315MR1 220 kW 415 415 3 226 2600

1500 LSRPM 315MR1 250 kW 490 490 3 226 2600

* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.

Table 6-4 Dyneo LSRPM 1800 rpm motors

Sensorless motor

rated current after

autotune

*

Switching frequency

Pr 00.041

Ke

Pr 00.047

Motor Thermal

Time Constant

Pr 00.053

LSRPM Motor model

Motor rated current

(nameplate value)

Pr 00.046

*

A A kHz V/1000 rpm s

1800 LSRPM 132M 9.8 kW 19.0 19.8 3 188 1050

1800 LSRPM 132M 12.3 kW 24.0 24.7 3 197 1050

1800 LSRPM 132M 14.4 kW 28.0 28.0 3 191 1050

1800 LSRPM 160MP 18.7 kW 36.0 36.0 3 206 1050

1800 LSRPM 160MP 23 kW 42.9 42.9 3 204 1050

1800 LSRPM 160LR 27.3 kW 52.0 52.0 3 205 1050

1800 LSRPM 200L 33 kW 79.0 80.3 3 170 900

1800 LSRPM 200L 40 kW 82.5 85.0 3 172 900

1800 LSRPM 200L 55 kW 120 124 3 181 900

1800 LSRPM 225ST1 70 kW 145 145 3 182 900

1800 LSRPM 225MR1 85 kW 172 172 3 187 900

1800 LSRPM 250ME 100 kW 204 207 3 195 1150

1800 LSRPM 280SC 125 kW 248 248 3 183 1150

1800 LSRPM 280SD 150 kW 295 295 3 195 1150

1800 LSRPM 280MK1 175 kW 330 330 3 196 2600

1800 LSRPM 315SP1 195 kW 370 370 3 206 2600

1800 LSRPM 315MR1 230 kW 425 425 3 201 2600

* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.

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Table 6-5 Dyneo LSRPM 2400 rpm motors

LSRPM Motor model

Motor rated current

(nameplate value)

Pr 00.046

*

Sensorless motor

rated current after

autotune

*

Switching frequency

Pr 00.041

Ke

Pr 00.047

Motor Thermal Time Constant

Pr 00.053

A A kHz V/1000 rpm s

2400 LSRPM 90SL 4.8 kW 9.1 9.4 4 145 850 2400 LSRPM 100L 7.2 kW 13.4 13.4 4 146 850

2400 LSRPM 100L 9.5 kW 17.7 17.7 4 151 850 2400 LSRPM 132M 13.1 kW 25.0 27.2 8 149 1050 2400 LSRPM 132M 16.3 kW 31.0 32.1 8 140 1050

2400 LSRPM 132M 19.2 kW 37.0 37.1 8 152 1050 2400 LSRPM 160MP 25 kW 47.0 47.0 8 153 1050 2400 LSRPM 160MP 31 kW 58.0 58.0 8 156 1050

2400 LSRPM 160LR 36 kW 69.0 69.0 8 156 1050 2400 LSRPM 200L 50 kW 110 110 4 136 900 2400 LSRPM 200L1 65 kW 137 137 4 128 900

2400 LSRPM 200L1 80 kW 160 164 4 145 900 2400 LSRPM 225MR1 100 kW 200 201 4 142 900 2400 LSRPM 250SE 125 kW 235 240 4 146 1150

2400 LSRPM 250ME 150 kW 285 288 4 146 1150 2400 LSRPM 280SD1 190 kW 350 361 4 152 1150 2400 LSRPM 280MK1 230 kW 429 429 4 147 2600

* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.

Table 6-6 Dyneo LSRPM 3000 rpm motors

LSRPM Motor model

Motor rated current

(nameplate value)

Pr 00.046

*

Sensorless motor rated current after

autotune

*

Switching frequency

Pr 00.041

Ke

Pr 00.047

Motor Thermal

Time Constant

Pr 00.053

A A kHz V/1000 rpm s

3000 LSRPM 90SL 5.8 kW 11.0 11.1 4 120 850

3000 LSRPM 100L 8.7 kW 16.2 16.2 4 131 850

3000 LSRPM 100L 11.6 kW 21.0 21.0 4 134 850

3000 LSRPM 132M 15.8 kW 30.0 31.8 8 121 1050

3000 LSRPM 132M 19.7 kW 38.0 38.0 8 121 1050

3000 LSRPM 132M 23 kW 44.0 44.0 8 126 1050

3000 LSRPM 160MP 30 kW 57.0 57.0 8 127 1050

3000 LSRPM 160MP 37 kW 67.8 67.8 8 128 1050

3000 LSRPM 160LR 44 kW 82.0 82.0 8 129 1050

3000 LSRPM 200L 50 kW 111 116 4 109 900

3000 LSRPM 200L1 65 kW 126 136 4 118 900

3000 LSRPM 200L1 85 kW 170 170 4 125 900

3000 LSRPM 225ST2 110 kW 215 219 4 118 900

3000 LSRPM 250SE 145 kW 285 285 4 114 1150

3000 LSRPM 250ME1 170 kW 338 344 4 111 1150

3000 LSRPM 280SD1 200 kW 365 365 4 126 1150

3000 LSRPM 280SD1 220 kW 370 398 4 130 1150

* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.

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Table 6-7 Dyneo LSRPM 3600 rpm motors

LSRPM Motor model

Motor rated current

(nameplate value)

Pr 00.046

*

Sensorless motor rated current after

autotune

*

Switching frequency

Pr 00.041

Ke

Pr 00.047

Motor Thermal Time Constant

Pr 00.053

A A kHz V/1000 rpm s

3600 LSRPM 132M 17.6 kW 33.0 33.7 8 103 1050

3600 LSRPM 132M 22 kW 39.4 41.2 8 103 1050

3600 LSRPM 132M 26 kW 48.0 48.0 8 106 1050

3600 LSRPM 160MP 34 kW 63.0 63.0 8 106 1050

3600 LSRPM 160MP 41 kW 77.0 77.0 8 107 1050

3600 LSRPM 160LR 49 kW 91.0 91.0 8 110 1050

3600 LSRPM 200L1 70 kW 129 137 4 100 900

3600 LSRPM 200L1 85 kW 162 162 4 100 900

3600 LSRPM 200LU2 115 kW 217 232 4 103 900

3600 LSRPM 225SG 132 kW 250 250 4 103 1150

3600 LSRPM 250SE1 165 kW 330 330 4 96 1150

3600 LSRPM 250SE1 190 kW 350 360 4 106 1150

3600 LSRPM 280SD1 240 kW 420 429 4 108 1150

* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.

Table 6-8 Dyneo LSRPM 4500 rpm motors

Sensorless motor rated current after

autotune

*

Switching frequency

Pr 00.041

Ke

Pr 00.047

Motor Thermal

Time Constant

Pr 00.053

LSRPM Motor model

Motor rated current

(nameplate value)

Pr 00.046

*

A A kHz V/1000 rpm s

4500 LSRPM 132M 18.6 kW 35.0 35.0 8 86 1050

4500 LSRPM 132M 23 kW 44.0 44.0 8 84 1050

4500 LSRPM 132M 27 kW 51.0 51.0 8 83 1050

4500 LSRPM 160MP 35 kW 67.0 67.0 8 90 1050

4500 LSRPM 160MP 44 kW 81.0 81.0 8 92 1050

4500 LSRPM 160LR 52 kW 97.0 97.0 8 86 1050

4500 LSRPM 200L1 65 kW 130 142 8 82 900

4500 LSRPM 200L1 80 kW 160 172 8 82 900

4500 LSRPM 200L1 100 kW 200 200 8 79 900

4500 LSRPM 200L2 120 kW 230 230 8 82 900

4500 LSRPM 200LU2 135 kW 258 260 8 84 900

4500 LSRPM 225SR2 150 kW 262 281 8 91 900

* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.

Table 6-9 Dyneo LSRPM 5500 rpm motors

Sensorless motor

rated current after

autotune

*

Switching

frequency

Pr 00.041

Ke

Pr 00.047

Motor Thermal Time Constant

Pr 00.053

LSRPM Motor model

Motor rated current

(nameplate value)

Pr 00.046

*

A A kHz V/1000 rpm s

5500 LSRPM 132M 18.6 kW 35.0 35.0 8 74 1050

5500 LSRPM 132M 23 kW 44.0 44.0 8 74 1050

5500 LSRPM 132M 27 kW 52.0 52.0 8 77 1050

5500 LSRPM 160MP 35 kW 67.0 67.0 8 76 1050

5500 LSRPM 160MP 44 kW 82.0 82.0 8 77 1050

5500 LSRPM 160LR 52 kW 97.0 97.0 8 77 1050

5500 LSRPM 200L1 70 kW 140 141 8 68 900

5500 LSRPM 200L1 85 kW 170 170 8 64 900

5500 LSRPM 200L1 100 kW 210 210 8 64 900

5500 LSRPM 200L2 140 kW 265 296 8 67 900

* From firmware version 01.12.xx.xx onwards, the rated current from the motor nameplate is entered into Pr 00.046 {05.007} and will be updated automatically to the sensorless value after an autotune.

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6.4 Quick start commissioning / start-up using Unidrive M Connect (V02.00.00.00 onwards)

Unidrive M Connect is a Windows™ based software commissioning/start-up tool for Unidrive M. Unidrive M Connect can be used for commissioning / start-up and monitoring, drive parameters can be uploaded, downloaded and compared and simple or custom menu listings can be created. Drive menus can be displayed in standard list format or as live block diagrams. Unidrive M Connect is able to communicate with a single drive or a network. Unidrive M Connect can be downloaded from www.controltechniques.com (file size approximately 100 MB).

Unidrive M Connect system requirements

• Windows 8, Windows 7 SP1, Windows Vista SP2, Windows XP SP3

• Minimum of 1280 x 1024 screen resolution with 256 colours

• Microsoft.Net Frameworks 4.0 (this is provided in the downloaded file)

• Note that you must have administrator rights to install Unidrive M Connect

Any previous copy of Unidrive M Connect should be uninstalled before proceeding with the installation (existing projects will not be lost). Included within Unidrive M Connect is the Parameter Reference Guide for Unidrive M600.

6.4.1 Power-up the drive

1. Start Unidrive M Connect, and on the ‘Project Management’ screen select 'Scan serial RTU network' or 'Scan all connected drives’.

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2

4

3

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Select the discovered drive.

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1. Select the ‘Online’ icon to connect with the drive. When a successful connection is made the icon will be highlighted orange.

2. Select ‘Set mode and region’. If the required control mode is highlighted in the ‘Drive Settings’ dialog, then:

• Change the supply frequency, if required and select ‘Apply’, otherwise select ‘Cancel’.

• Select ‘Default parameters‘ from the Dashboard and in the ‘Default Parameters’ dialogue, select ‘Apply’ If the required control mode is not highlighted in the ‘Drive Settings’ dialog then:

• Select the required mode and supply frequency.

• Select ‘Apply’.

3. Select ‘Setup’ and perform the steps highlighted (dotted lines indicate a step which may not need to be performed (see overleaf):

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Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.

CAUTION

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Action Detail

Unidrive M Connect contains a database for induction motors and permanent magnet motors. Provision is also made to enter

Motor Setup

motor nameplate data.

The next section describes the use of the motor database for a Leroy Somer LSRPM motor used in RFC-S Sensorless mode.

This only needs to be performed in RFC-A (with feedback) mode

Set Pr 03.024 = Feedback (0) Enter:

• Encoder power supply in Pr. mm.036 = 5 V (0), 8 V (1) or 15 V (2). * If output voltage from the encoder is >5 V, then the termination resistors must be disabled Pr mm.039 to 0. *

Motor Feedback Setup

• Drive encoder Lines Per Revolution (LPR) in Pr mm.034 (set according to encoder) *

• Drive encoder termination resistor setting in Pr mm.039: *

0 = A-A\, B-B\ termination resistors disabled 1 = A-A\, B-B\, termination resistors enabled

* mm is dependant on the slot into which the SI-Encoder module is installed (15 =Slot 1, 16 = Slot 2, 17 = Slot 3).

Analog I/O

The motor thermistor can be selected in Pr 00.021 {07.015}. Refer to the parameter help for Pr 00.021 {07.015} for further information.

Enter the required Acceleration rate and Deceleration rate

Ramps Setup

Note: If a braking resistor is installed, set 'Ramp mode' to 'Fast'. Also ensure Pr 10.030 and Pr 10.031 and Pr 10.061 are set correctly, otherwise premature 'Brake R Too Hot' trips may be seen).

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Autotune

Not required when using data from the motor database for a Leroy Somer LSRPM motor used in RFC-S Sensorless mode.

4. Select 'Save parameters in drive' to perform a parameter save. The drive is now ready to run.

6.4.2 Use of the motor database for a Leroy Somer LSRPM motor for use in RFC-S Sensorless mode.

Select 'Motor Setup' from the 'Dashboard'.

On the 'Motor Setup' screen, select 'Choose a motor'.

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Select the required motor database:

Select the required motor from the list and click 'OK'.

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The data for the selected motor is displayed on the 'Motor Setup' screen. Click 'Send to drive' to set the associated parameters.

It is possible to set motor parameters for motor 2, by selecting the 'Motor 2' tab and following the same procedure.

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6.5 Diagnostics

If the drive trips, it is possible to interrogate the trip log from within Unidrive M Connect.

Select 'Drive Trip Log' from the 'Dashboard'.

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The drive trip log shows the trip responsible for stopping the autotune and a description of the trip.

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Output voltage

Pr / 2

00.044

Pr

00.044

Pr / 2

00.047

Pr

00.047

Output frequency

Output voltage characteristic

00.047

00.042 2

------------------

00.045 60

------------------

×

⎝⎠

⎛⎞

=

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7 Optimization

This chapter takes the user through methods of optimizing the drive set-up and maximize the performance. The auto-tuning features of the drive simplify the optimization tasks.

7.1 Motor map parameters

7.1.1 Open loop motor control

Pr 00.046 {05.007} Rated Current Defines the maximum continuous motor current

• The rated current parameter must be set to the maximum continuous current of the motor. (See section 7.2 Maximum motor rated current on page 89, for information about setting this parameter higher than the maximum Heavy Duty current rating). The motor rated current is used in the following:

• Current limits (see section section 7.3 Current limits on page 89, for more information)

• Motor thermal overload protection (see section 7.4 Motor thermal protection on page 89, for more information)

• Vector mode voltage control (see Open Loop Control Mode (00.007), later in this table)

• Slip compensation (see Enable Slip Compensation (05.027), later in this table)

• Dynamic V/F control

Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.047 {05.006} Rated Frequency Defines the frequency at which rated voltage is applied

The Rated Voltage (00.044) and the Rated Frequency (00.047) are used to define the voltage to frequency characteristic applied to the motor (see

Open Loop Control Mode (00.007), later in this table). The Rated Frequency (00.047) is also used in conjunction with the motor rated

speed to calculate the rated slip for slip compensation (see Rated Speed (00.045), later in this table).

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles

The motor rated speed and the number of poles are used with the motor rated frequency to calculate the rated slip of induction machines in Hz.

Rated slip (Hz) = Motor rated frequency - (Number of pole pairs x [Motor rated speed / 60]) =

If Pr 00.045 is set to 0 or to synchronous speed, slip compensation is disabled. If slip compensation is required this parameter should be set to the nameplate value, which should give the correct rpm for a hot machine. Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate. Slip compensation will operate correctly both below base speed and within the field-weakening region. Slip compensation is normally used to correct for the motor speed to prevent speed variation with load. The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop. This can be useful to aid load sharing with mechanically coupled motors.

Pr 00.042 is also used in the calculation of the motor speed display by the drive for a given output frequency. When Pr 00.042 is set to ‘Automatic’, the number of motor poles is automatically calculated from the rated frequency Pr 00.047, and the motor rated speed Pr 00.045.

Number of poles = 120 x (Rated Frequency (00.047) / Rated Speed (00.045)) rounded to the nearest even number.

Pr 00.043 {05.010} Rated Power Factor Defines the angle between the motor voltage and current

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. The power factor is used in conjunction with the Rated Current (00.046), to calculate the rated active current and magnetising current of the motor. The rated active current is used extensively to control the drive, and the magnetising current is used in vector mode stator resistance compensation. It is important that this parameter is set up correctly. The drive can measure the motor rated power factor by performing a rotating autotune (see Autotune (Pr 00.040), below).

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Pr 0.40 {5.12} Autotune

There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating autotune should be used whenever possible so the measured value of power factor of the motor is used by the drive.

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary test measures the Stator Resistance (05.017), Transient Inductance (05.024), Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060) which are required for good performance in vector control modes (see Open Loop Control Mode (00.007), later in this table). If Enable Stator Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). The stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, as above, then a rotating test is performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency Pr 00.047

{05.006} x

2

/3, and the frequency is maintained at that level for 4 seconds. Stator Inductance (05.025) is measured and this value is used in

conjunction with other motor parameters to calculate Rated Power Factor (05.010). To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the Drive Enable (06.015) to Off (0) or disabling the drive via the Control Word (06.042) and Control Word Enable (06.043).

Pr 00.007 {05.014} Open Loop Control Mode

There are several voltage modes available which fall into two categories, vector control and fixed boost.

Vector control

Vector control mode provides the motor with a linear voltage characteristic from 0 Hz to motor Rated Frequency (00.047), and then a constant voltage above motor rated frequency. When the drive operates between motor rated frequency/50 and motor rated frequency/4, full vector based stator resistance compensation is applied. When the drive operates between motor rated frequency/4 and motor rated frequency/2 the stator resistance compensation is gradually reduced to zero as the frequency increases. For the vector modes to operate correctly the Rated Power Factor (00.043) and Stator Resistance (05.017) are required to be set up accurately. The drive can be made to measure these by performing an autotune (see Pr 00.040 Autotune). The drive can also be made to measure the stator resistance automatically every time the drive is enabled or the first time the drive is enabled after it is powered up, by selecting one of the vector control voltage modes.

(0) Ur S = The stator resistance is measured and the parameter for the selected motor map is over-written each time the drive is made to run. This test can only be done with a stationary motor where the flux has decayed to zero. Therefore this mode should only be used if the motor is guaranteed to be stationary each time the drive is made to run. To prevent the test from being done before the flux has decayed there is a period of 1 second after the drive has been in the ready state during which the test is not done if the drive is made to run again. In this case, previously measured values are used. Ur S mode ensures that the drive compensates for any change in motor parameters due to changes in temperature. The new value of stator resistance is not automatically saved to the drive's EEPROM.

(1) Ur = The stator resistance is not measured. The user can enter the motor and cabling resistance into the Stator Resistance (05.017). However this will not include resistance effects within the drive inverter. Therefore if this mode is to be used, it is best to use an autotune test initially to measure the stator resistance.

(3) Ur_Auto = The stator resistance is measured once, the first time the drive is made to run. After the test has been completed successfully the Open Loop Control Mode (00.007) is changed to Ur mode. The Stator Resistance (05.017) parameter is written to, and along with the Open

Loop Control Mode (00.007), are saved in the drive's EEPROM. If the test fails, the voltage mode will change to Ur mode but the Stator Resistance (05.017) is not updated.

(4) Ur I = The stator resistance is measured when the drive is first made to run after each power-up. This test can only be done with a stationary motor. Therefore this mode should only be used if the motor is guaranteed to be stationary the first time the drive is made to run after each power-up. The new value of stator resistance is not automatically saved to the drive's EEPROM.

Fixed boost

The stator resistance is not used in the control of the motor, instead a fixed characteristic with low frequency voltage boost as defined by Pr 00.008, is used. Fixed boost mode should be used when the drive is controlling multiple motors. There are two settings of fixed boost available:

(2) Fixed = This mode provides the motor with a linear voltage characteristic from 0 Hz to Rated Frequency (00.047), and then a constant voltage above rated frequency. (5) Square = This mode provides the motor with a square law voltage characteristic from 0 Hz to Rated Frequency (00.0 47), and then a constant voltage above rated frequency. This mode is suitable for variable torque applications like fans and pumps where the load is proportional to the square of the speed of the motor shaft. This mode should not be used if a high starting torque is required.

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(Fd)

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Pr

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Pr 00.044

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Pr + [(freq/Pr )x (Pr - Pr )]00.008 00.047 00.044 00.008

2

Output voltage characteristic

(Square)

Output voltage

Output frequency

Voltage boost

Shaft speed

Demanded speed

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Pr 00.007 {05.014} Open Loop Control Mode (cont)

Fixed boost

The stator resistance is not used in the control of the motor, instead a fixed characteristic with low frequency voltage boost as defined by parameter Pr 00.008, is used. Fixed boost mode should be used when the drive is controlling multiple motors. There are two settings of fixed boost available: (2) Fixed = This mode provides the motor with a linear voltage characteristic from 0 Hz to Rated Frequency (00.047), and then a constant voltage above rated frequency. (5) Square = This mode provides the motor with a square law voltage characteristic from 0 Hz to Rated Frequency (00.047), and then a constant voltage above rated frequency. This mode is suitable for variable torque applications like fans and pumps where the load is proportional to the square of the speed of the motor shaft. This mode should not be used if a high starting torque is required.

For both these modes, at low frequencies (from 0Hz to ½ x Pr 00.047) a voltage boost is applied defined by Pr 00.008 as shown below:

Pr 05.027 Enable Slip Compensation

When a motor, being controlled in open loop mode, has load applied a characteristic of the motor is that the output speed droops in proportion to the load applied as shown:

In order to prevent the speed droop shown above slip compensation should be enabled. To enable slip compensation Pr 05.027 must be set to a 1 (this is the default setting), and the motor rated speed must be entered in Pr 00.045 {05.008}.

The motor rated speed parameter should be set to the synchronous speed of the motor minus the slip speed. This is normally displayed on the motor nameplate, i.e. for a typical 18.5 kW, 50 Hz, 4 pole motor, the motor rated speed would be approximately 1465 rpm. The synchronous speed for a 50 Hz, 4 pole motor is 1500 rpm, so therefore the slip speed would be 35 rpm. If the synchronous speed is entered in Pr 00.045, slip compensation will be disabled. If too small a value is entered in Pr 00.045, the motor will run faster than the demanded frequency. The synchronous speeds for 50 Hz motors with different numbers of poles are as follows:

2 pole = 3000 rpm, 4 pole = 1500 rpm, 6pole =1000 rpm, 8 pole = 750 rpm

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7.1.2 RFC-A Mode

Induction motor with position feedback (using SI-Encoder module)

Pr 00.046 {05.007} Motor Rated Current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor. (See section 7.2 Maximum motor rated current on page 89, for information about setting this parameter higher than the maximum Heavy Duty current rating.) The motor rated current is used in the following:

• Current limits (see section 7.3 Current limits on page 89, for more information).

• Motor thermal overload protection (see section 7.4 Motor thermal protection on page 89, for more information)

• Vector control algorithm

Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.047 {05.006} Rated Frequency Defines the frequency at which rated voltage is applied

The Rated Voltage (00.044) and the Rated Frequency (00.047) are used to define the voltage to frequency characteristic applied to the motor (see Open Loop Control Mode (00.007), later in this table). The motor rated frequency is also used in conjunction with the motor rated speed to calculate the rated slip for slip compensation (see motor Rated Speed (00.045), later in this table).

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles

The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.

Incorrect setting of this parameter has the following effects:

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes

The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate. Either a fixed value can be entered in this parameter or an optimization system may be used to automatically adjust this parameter (see Rated Speed Optimization Select Pr 00.033 {05.016}, later in this table).

When Pr 00.042 is set to 'Automatic', the number of motor poles is automatically calculated from the motor Rated Frequency (00.047), and the motor Rated Speed (00.045).

Number of poles = 120 x (Motor Rated Frequency (00.047 / Motor Rated Speed (00.045) rounded to the nearest even number.

Pr 00.043 {5.010} Rated Power Factor Defines the angle between the motor voltage and current

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the Stator Inductance (05.025) is set to zero then the power factor is used in conjunction with the motor Rated Current (00.046) and other motor parameters to calculate the rated active and magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter is not used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune (Pr 00.040), later in this table).

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Pr 00.040 {05.012} Autotune

There are four autotune tests available in RFC-A mode, a stationary test, a rotating test and two inertia measurement tests. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive. An inertia measurement test should be performed separately to a stationary or rotating autotune.

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary

autotune measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 {04.013} and Pr 00.039 {04.014} are updated. Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060) for the drive are also measured. Additionally, if Enable Stator Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then

performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency Pr 00.047 {05.006} x 2/3, and the frequency is maintained at the level for up to 40 s. During the rotating autotune the Stator Inductance (05.025), and the motor saturation breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and Pr 05.063) are modified by the drive. The power factor is also modified for user information only, but is not used after this point as the stator inductance is used in the vector control algorithm instead. To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop

gains) and to provide torque feed-forwards when required during acceleration.

Two tests are available: Signal injection (when using an SI-Encoder module) This test measures the mechanical characteristic of the motor and load by rotating the motor at the speed defined by the present speed reference and injecting a series of speed test signals. This test should only be used provided all the basic control parameters have been set-up correctly and the speed controller parameters should be set to conservative l

evels, such as the default values, so that the motor is stable when it runs. If Mechanical Load Test Level (05.021) is left at its default value of zero then the peak level of the injection signal will be 1 % of the maximum speed reference subject to a maximum of 500 rpm. If a different test level is required then Mechanical Load Test Level (05.021) should be set to a non-zero value to define the level as a percentage of the maximum speed reference, again subject to a maximum of 500 rpm. The user defined speed reference which defines the speed of the motor should be set to a level higher than the test level, but not high enough for flux weakening to become active. In some cases however, it is possible to perform the test at zero speed provided the motor is free to move, but it may be necessary to increase the test signal from the default value. The test will give the correct results when there is a static load applied to the motor and in the presence of mechanical damping. To perform an Inertia measurement autotune, set Pr 00.040 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or

27). If the speed controller cannot be set up for stable operation an alternative test is provided, where a series of torque levels are applied to accelerate and decelerate the motor to measure the inertia. Applied torque (sensorless mode) This test may give inaccurate results, if the motor rated speed is not set to the correct value for the motor, or if standard ramp mode is active. During the inertia measurement test a series of progressively larger torque levels are applied to the motor

(20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to

3

/4 x Rated Speed Pr 00.045 {05.008} to determine the inertia from the

acceleration/deceleration time. The test attempts to reach the required speed within 5 s, but if this fails the next torque level is used. When 100 % torque is used the test allows 60 s for the required speed to be reached, but if this is unsucessful an Autotune trip is initiated. To reduce the time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a nonzero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to reach the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required torque level to accelerate the motor quickly enough. If this is the case, the maximum speed reference should be reduced. To perform an Inertia measurement autotune, set Pr 00.040 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or

27).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the Drive Enable (06.015) to Off (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043)

Pr 00.033 {05.016} Rated Speed Optimization Select (When using an SI-Encoder option module)

The motor Rated Speed (00.045) in conjunction with the motor Rated Frequency (00.047) defines the full load slip of the motor. The slip is used in the motor model for RFC-A control. The full load slip of the motor varies with rotor resistance which can vary significantly with motor temperature. When Pr 00.033 {05.016} is set to 1 or 2 the drive can automatically sense if the value of slip defined by Pr 00.047 and Pr 00.045 has been set incorrectly or if it has varied with motor temperature. If the value is incorrect Pr 00.045 is automatically adjusted. Pr 00.045 is not saved at powerdown, and so when the drive is powered-down and up again it will return to the last saved value. If the new value is required at the next power-up it must be saved by the user.

The adaptive control system is only enabled when the |Output Frequency Pr 00.011 {05.001}| is above Rated Frequency Pr 00.047 {05.006} / 8, and the |Percentage Load (04.020)| is greater than 60 %. The adaptive control system is disabled again if the |Percentage Load (04.020)| falls below 50 %. For best optimization results the correct values of Stator Resistance (05.017), Transient Inductance (05.024), Stator Inductance (05.025), Saturation Breakpoint 1 (05.029), Saturation Breakpoint 2 (05.062), Saturation Breakpoint 3 (05.030) and Saturation Breakpoint 4 (05.063) should be used. If Rated Speed Optimization Select Pr 00.033 {05.016} = 1 the gain of the adaptive control system is low and hence the rate at which it converges is slow. If Rated Speed Optimization Select Pr 00.033 {05.016} = 2 the gain is increased by a factor of 16 and the convergence rate is increased.

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Pr 00.038 {04.013} / Pr 00.039 {04.014} Current Loop Gains

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to change the gains to improve the performance. The Current Controller Kp Gain Pr 00.038 {04.013} is the most critical value in controlling the performance. The values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.040, earlier in this table) the drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current loop gains.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value.

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[]00.007

Excessive proportional gain [00.007]

Excessive integral gain [00.008]

Ideal response

6. Pr 03.017 = 7

If Speed Controller Set-up Method (03.017) = 7 then Speed Controller

Proportional Gain Kp1 Pr 00.007 {03.010}, Speed Controller Integral Gain Ki1 Pr 00.008 {03.011} and Speed Controller Differential Feedback Gain Kd1 Pr 00.009 {03.012} are set up to give a closed-loop speed controller

response that approximates to a first order system with a transfer function of

1 / (sτ + 1), where τ= 1/ωbw and ωbw = 2π x Bandwidth (03.020). In this

case the damping factor is meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect.

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Speed Loop Gains (Pr 00.007 {03.010}, Pr 00.008 {03.011}, Pr 00.009 {03.012})

The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of Pr 03.017.

Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013

If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is reached.

Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. For RFC-A Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.

Differential Gain (Kd), Pr 00.009 {0 3.012} and Pr 03.015

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

There are six methods of tuning the speed loop gains dependant on the setting of Pr 03.017:

1. Pr 03.017 = 0, User set-up. This involves the connecting of an oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope. The proportional gain (Kp) should be set up initially. The value should be increased up to the point where the speed overshoots and then reduced slightly. The integral gain (Ki) should then be increased up to the point where the speed becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response as shown. The diagram shows the effect of incorrect P and I gain settings as well as the ideal response.

2. Pr 03.017 = 1, Bandwidth set-up If bandwidth based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.020 - Required bandwidth, Pr 03.021 - Required damping factor,

Pr 03.018 - Motor and load inertia. The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 00.040, earlier in this table).

3. Pr 03.017 = 2, Compliance angle set-up If compliance angle based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.019 - Required compliance angle, Pr 03.021 - Required damping factor, Pr 03.018 - Motor and load inertia The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 00.040, earlier in this table).

4. Pr 03.017 = 3, Kp gains times 16 If Speed Controller Set-up Method (03.017) = 3 the selected proportional gain used by the drive is multiplied by 16.

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5. Pr 03.017 = 4 - 6

If Speed Controller Set-up Method (03.017) is set to a value from 4 to 6 the

Speed Controller Proportional Gain Kp1 Pr 00.007 {03.010} and Speed Controller Integral Gain Ki1 Pr 00.008 {03.011} are automatically set up to

give the bandwidths given in the table below and a damping factor of unity. These settings give low, standard or high performance.

Pr 03.017 Performance Bandwidth

4 Low 5 Hz

5 Standard 25 Hz

6High 100 Hz

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7.1.3 RFC-A Sensorless mode

Induction motor without position feedback

Pr 00.046 {05.007} Motor Rated Current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor. (See section 7.2 Maximum motor rated current on page 89, for information about setting this parameter higher than the maximum Heavy Duty current rating.) The motor rated current is used in the following:

• Current limits (see section 7.3 Current limits on page 89, for more information).

• Motor thermal overload protection (see section 7.4 Motor thermal protection on page 89, for more information)

• Vector control algorithm

Pr 00.044 {05.009} Rated Voltage Defines the voltage applied to the motor at rated frequency

Pr 00.047 {05.006} Rated Frequency Defines the frequency at which rated voltage is applied

The Rated Voltage (00.044) and the Rated Frequency (00.047) are used to define the voltage to frequency characteristic applied to the motor (see Open Loop Control Mode (00.007), later in this table). The motor rated frequency is also used in conjunction with the motor rated speed to calculate the rated slip for slip compensation (see motor Rated Speed (00.045), later in this table).

Pr 00.045 {05.008} Rated Speed Defines the full load rated speed of the motor

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles

The motor rated speed and motor rated frequency are used to determine the full load slip of the motor which is used by the vector control algorithm.

Incorrect setting of this parameter has the following effects:

• Reduced efficiency of motor operation

• Reduction of maximum torque available from the motor

• Reduced transient performance

• Inaccurate control of absolute torque in torque control modes The nameplate value is normally the value for a hot motor; however, some adjustment may be required when the drive is commissioned if the nameplate value is inaccurate. Either a fixed value can be entered in this parameter or an optimization system may be used to automatically adjust this parameter (see Rated Speed Optimization Select Pr 00.033 {05.016}, later in this table).

When Pr 00.042 is set to 'Automatic', the number of motor poles is automatically calculated from the motor Rated Frequency (00.047), and the motor Rated Speed (00.045).

Number of poles = 120 x (Motor Rated Frequency (00.047 / Motor Rated Speed (00.045) rounded to the nearest even number.

Pr 00.043 {5.010} Rated Power Factor Defines the angle between the motor voltage and current

The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. If the Stator Inductance (05.025) is set to zero then the power factor is used in conjunction with the motor Rated Current (00.046) and other motor parameters to calculate the rated active and magnetising currents of the motor, which are used in the vector control algorithm. If the stator inductance has a non-zero value this parameter is not used by the drive, but is continuously written with a calculated value of power factor. The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune (Pr 00.040), later in this table).

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Pr 00.040 {05.012} Autotune

There are three autotune tests available in RFC-A mode, a stationary test, a rotating test and an inertia measurement test. A stationary autotune will give moderate performance whereas a rotating autotune will give improved performance as it measures the actual values of the motor parameters required by the drive. An inertia measurement test should be performed separately to a stationary or rotating autotune.

It is highly recommended that a rotating autotune is performed (Pr 00.040 set to 2).

• A stationary autotune can be used when the motor is loaded and it is not possible to remove the load from the motor shaft. The stationary autotune measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor. These are used to calculate the current loop gains, and at the end of the test the values in Pr 00.038 {04.013} and Pr 00.039 {04.014} are updated. Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060) for the drive are also measured. Additionally, if Enable Stator Compensation (05.049) = 1, then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). A stationary autotune does not measure the power factor of the motor so the value on the motor nameplate must be entered into Pr 00.043. To perform a stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

• A rotating autotune should only be used if the motor is unloaded. A rotating autotune first performs a stationary autotune, a rotating test is then performed in which the motor is accelerated with currently selected ramps up to a frequency of Rated Frequency Pr 00.047 {05.006} x 2/3, and the frequency is maintained at the level for up to 40 s. During the rotating autotune the Stator Inductance (05.025), and the motor saturation breakpoints (Pr 05.029, Pr 05.030, Pr 06.062 and Pr 05.063) are modified by the drive. The power factor is also modified for user information only, but is not used after this point as the stator inductance is used in the vector control algorithm instead. To perform a Rotating autotune, set Pr 00.040 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop gains) and to provide torque feed-forwards when required during acceleration. Applied torque (sensorless mode) This test may give inaccurate results, if the motor rated speed is not set to the correct value for the motor, or if standard ramp mode is active. During the inertia measurement test a series of progressively larger torque levels are applied to the motor

(20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to

3

/4 x Rated Speed Pr 00.045 {05.008} to determine the inertia from the

acceleration/deceleration time. The test attempts to reach the required speed within 5 s, but if this fails the next torque level is used. When 100 % torque is used the test allows 60 s for the required speed to be reached, but if this is unsucessful an Autotune trip is initiated. To reduce the time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a nonzero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to reach the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required torque level to accelerate the motor quickly enough. If this is the case, the maximum speed reference should be reduced. To perform an Inertia measurement autotune, set Pr 00.040 to 4, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or

27).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the Drive Enable (06.015) to Off (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043)

Pr 00.038 {04.013} / Pr 00.039 {04.014} Current Loop Gains

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to change the gains to improve the performance. The Current Controller Kp Gain Pr 00.038 {04.013} is the most critical value in controlling the performance. The values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.040, earlier in this table) the drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current loop gains.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value.

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Excessive integral gain [00.008]

Ideal response

6. Pr 03.017 = 7

If Speed Controller Set-up Method (03.017) = 7 then Speed Controller

Proportional Gain Kp1 Pr 00.007 {03.010}, Speed Controller Integral Gain Ki1 Pr 00.008 {03.011} and Speed Controller Differential Feedback Gain Kd1 Pr 00.009 {03.012} are set up to give a closed-loop speed controller

response that approximates to a first order system with a transfer function of

1 / (sτ + 1), where τ= 1/ωbw and ωbw = 2π x Bandwidth (03.020). In this

case the damping factor is meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect.

5. Pr 03.017 = 4 - 6

If Speed Controller Set-up Method (03.017) is set to a value from 4 to 6 the

Speed Controller Proportional Gain Kp1 Pr 00.007 {03.010} and Speed Controller Integral Gain Ki1 Pr 00.008 {03.011} are automatically set up to

give the bandwidths given in the table below and a damping factor of unity. These settings give low, standard or high performance.

Pr 03.017 Performance Bandwidth

4Low 5 Hz

5 Standard 25 Hz

6High 100 Hz

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Speed Loop Gains (Pr 00.007 {03.010}, Pr 00.008 {03.011}, Pr 00.009 {03.012})

The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of Pr 03.017.

Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013

If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is reached.

Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014

The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. For RFC-A Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.

Differential Gain (Kd), Pr 00.009 {0 3.012} and Pr 03.015

The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

There are six methods of tuning the speed loop gains dependant on the setting of Pr 03.017:

1. Pr 03.017 = 0, User set-up. This involves the connecting of an oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope. The proportional gain (Kp) should be set up initially. The value should be increased up to the point where the speed overshoots and then reduced slightly. The integral gain (Ki) should then be increased up to the point where the speed becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response as shown. The diagram shows the effect of incorrect P and I gain settings as well as the ideal response.

2. Pr 03.017 = 1, Bandwidth set-up If bandwidth based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.020 - Required bandwidth, Pr 03.021 - Required damping factor,

Pr 03.018 - Motor and load inertia. The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 00.040, earlier in this table).

3. Pr 03.017 = 2, Compliance angle set-up If compliance angle based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.019 - Required compliance angle, Pr 03.021 - Required damping factor, Pr 03.018 - Motor and load inertia The drive can be made to measure the motor and load inertia by performing an inertia

86 Unidrive M600 Control User Guide

measurement autotune (see Autotune Pr 00.040, earlier in this table).

4. Pr 03.017 = 3, Kp gains times 16 If Speed Controller Set-up Method (03.017) = 3 the selected proportional gain used by the drive is multiplied by 16.

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7.1.4 RFC-S Sensorless mode

Permanent magnet motor without Position feedback

Pr 00.046 {05.007} Rated Current Defines the maximum motor continuous current

The motor rated current parameter must be set to the maximum continuous current of the motor. The motor rated current is used in the following:

• Current limits (see section 7.3 Current limits on page 89, for more information)

• Motor thermal overload protection (see section 7.4 Motor thermal protection on page 89, for more information)

Pr 00.042 {05.011} Number Of Motor Poles Defines the number of motor poles

The number of motor poles parameter defines the number of electrical revolutions in one whole mechanical revolution of the motor. This parameter must be set correctly for the control algorithms to operate correctly. When Pr 00.042 is set to "Automatic" the number of poles is 6.

Pr 00.040 {05.012} Autotune

There are three autotune tests available in RFC-S sensorless mode, a stationary autotune and an inertia measurement test.

• Stationary Autotune (Pr 00.040 {05.012} = 1) The stationary autotune can be used to measure all the necessary parameters for basic control. The tests measures Stator Resistance (05.017), Ld (05.024), No Load Lq Pr 00.056 {05.072}, Maximum Deadtime Compensation (05.059) and Current At Maximum Deadtime Compensation (05.060). If Enable Stator Compensation (05.049) = 1 then Stator Base Temperature (05.048) is made equal to Stator Temperature (05.046). The Stator

Resistance (05.017) and Ld (05.024) are then used to set up Current controller Kp Gain Pr 00.038 {04.013} and Current Controller Ki Gain Pr

00.039 {04.014}. To perform a Stationary autotune, set Pr 00.040 to 1, and provide the drive with both an enable signal (on terminal 31) and a run

signal (on terminal 26 or 27).

• Rotating Autotune (Pr 00.040 {05.012} = 2) In sensorless mode, if Rotating autotune is selected (Pr 00.040 = 2), then a stationary autotune is performed.

• Inertia measurement test (Pr 00.040 {05.012} = 4) NOTE: It is not possible to perform this test if, after autotune, the ratio No load Lq Pr 00.056 {05.072} / Ld (05.024) < 1.1 and Pr 00.054 {05.064} has been set to Non-salient.

The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop gains) and to provide torque feed-forwards when required during acceleration. The test may give inaccurate results, if the motor rated speed is not set to the correct value for the motor, or if standard ramp mode is active. During the inertia measurement test a series of progressively larger torque levels are applied to the motor (20 %, 40 % ... 100 % of rated torque) to accelerate the motor up to 3/4 x Rated Speed Pr 00.045 {05.008 determine the inertia from the acceleration/deceleration time. The test attempts to reach the required speed within 5 s, but if this fails the next torque level is used. When 100 % torque is used the test allows 60 s for the required speed to be reached, but if this is unsucessful an Autotune trip is initiated. To reduce the time taken for the test it is possible to define the level of torque to be used for the test by setting Mechanical Load Test Level (05.021) to a non-zero value. When the test level is defined the test is only carried out at the defined test level and 60 s is allowed for the motor to reach the required speed. It should be noted that if the maximum speed allows for flux weakening then it may not be possible to achieve the required torque level to accelerate the motor quickly enough. If this is the case, the maximum speed reference should be reduced. To perform an Inertia measurement autotune, set Pr 00.040 to 4, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).

Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 31, setting the drive Enable Parameter (06.015) to Off (0) or disabling the drive via the control word (Pr 06.042 & Pr 06.043).

} to

Pr 00.038 {04.013} / Pr 00.039 {04.014} Current Loop Gains

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to change the gains to improve the performance. The proportional gain Pr 00.038 {04.013} is the most critical value in controlling the performance. The values for the current loop gains can be calculated by performing a stationary or rotating autotune (see Autotune Pr 00.040, earlier in this table) the drive measures the Stator Resistance (05.017) and Transient Inductance (05.024) of the motor and calculates the current loop gains.

This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5 % overshoot. The equation for the integral gain gives a conservative value. In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely the integral gain may need to have a significantly higher value.

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Speed demand

Insufficient proportional gain

[]00.007

Excessive proportional gain [00.007]

Excessive integral gain [00.008]

Ideal response

6. Pr 03.017 = 7

If Speed Controller Set-up Method (03.017) = 7 then Speed Controller

Proportional Gain Kp1 Pr 00.007 {03.010}, Speed Controller Integral Gain Ki1 Pr 00.008 {03.011} and Speed Controller Differential Feedback Gain Kd1 Pr 00.009 {03.012} are set up to give a closed-loop speed controller

response that approximates to a first order system with a transfer function of

1 / (sτ + 1), where τ= 1/ωbw and ωbw = 2π x Bandwidth (03.020). In this

case the damping factor is meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect.

5. Pr 03.017 = 4 - 6

If Speed Controller Set-up Method (03.017) is set to a value from 4 to 6 the

Speed Controller Proportional Gain Kp1 Pr 00.007 {03.010} and Speed Controller Integral Gain Ki1 Pr 00.008 {03.011} are automatically set up to

give the bandwidths given in the table below and a damping factor of unity. These settings give low, standard or high performance.

Pr 03.017 Performance Bandwidth

4Low 5 Hz

5 Standard 25 Hz

6High 100 Hz

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Speed Loop Gains (Pr 00.007 {03.010}, Pr 00.008 {03.011}, Pr 00.009 {03.012})

The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp) and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for use by the speed controller with Pr 03.016. If Pr 03.016 = 0, gains Kp1, Ki1 and Kd1 (Pr 00.007 to Pr 00.009) are used, and if Pr 03.016 = 1, gains Kp2, Ki2 and Kd2 (Pr 03.013 to Pr 03.015) are used. Pr 03.016 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of Pr 03.017.

NOTE: In sensorless mode, the speed controller bandwidth may need to be limited to 10 Hz or less for stable operation.

Speed Controller Proportional Gain (Kp), Pr 00.007 {03.010} and Pr 03.013 If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the stability limit is reached.

Speed Controller Integral Gain (Ki), Pr 00.008 {03.011} and Pr 03.014 The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque

demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the application. For RFC-S Sensorless mode, it is unlikely that the integral gain can be increased much above 0.50.

Differential Gain (Kd), Pr 00.009 {0 3.012} and Pr 03.015 The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced

by under-damping, however, for most applications the proportional and integral gains alone are sufficient.

There are six methods of tuning the speed loop gains dependant on the setting of Pr 03.017:

1. Pr 03.017 = 0, User set-up. This involves the connecting of an oscilloscope to analog output 1 to monitor the speed feedback. Give the drive a step change in speed reference and monitor the response of the drive on the oscilloscope. The proportional gain (Kp) should be set up initially. The value should be increased up to the point where the speed overshoots and then reduced slightly. The integral gain (Ki) should then be increased up to the point where the speed becomes unstable and then reduced slightly. It may now be possible to increase the proportional gain to a higher value and the process should be repeated until the system response matches the ideal response as shown. The diagram shows the effect of incorrect P and I gain settings as well as the ideal response.

2. Pr 03.017 = 1, Bandwidth set-up If bandwidth based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.020 - Required bandwidth, Pr 03.021 - Required damping factor,

Pr 03.018 - Motor and load inertia. The drive can be made to measure the motor and load inertia by performing an inertia measurement autotune (see Autotune Pr 00.040, earlier in this table).

3. Pr 03.017 = 2, Compliance angle set-up If compliance angle based set-up is required, the drive can calculate Kp and Ki if the following parameters are set up correctly:

Pr 03.019 - Required compliance angle, Pr 03.021 - Required damping factor, Pr 03.018 - Motor and load inertia The drive can be made to measure the motor and load inertia by performing an inertia

88 Unidrive M600 Control User Guide

measurement autotune (see Autotune Pr 00.040, earlier in this table).

4. Pr 03.017 = 3, Kp gains times 16 If Speed Controller Set-up Method (03.017) = 3 the selected proportional gain used by the drive is multiplied by 16.

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0.00

0.70

1.00

Pr = 0 Pr = 1

04.025

1.00

1.05

Base speed/ frequency

50% of base

speed/frequency

K

0.00

0.70

1.00

Pr = 0 Pr = 1

04.025

1.00

1.01

Base speed/ frequency

50% of base speed/ frequency

15% of

base speed/

frequency

K

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7.2 Maximum motor rated current

The maximum motor rated current allowed by the drive is greater than the Maximum Heavy Duty Current Rating Pr 00.032 {11.032}. The ratio between the Normal Duty rating (11.060) and the Maximum Heavy Duty Current Rating Pr 00.032 {11.032} varies between drive sizes. The values for the Normal and Heavy Duty rating can be found in the appropriate Power Installation Guide for the drive. If the motor Rated Current (00.046) is set above the Maximum Heavy Duty Current Rating Pr 00.032 {11.032}, the current limits and the motor thermal protection scheme are modified (see section 7.3 and section 7.4 for more information).

7.3 Current limits

The default setting for the current limit parameters are:

• 165 % x motor rated torque producing current for open loop mode

• 175 % x motor rated torque producing current for RFC-A and RFC-S modes

There are three parameters which control the current limits:

• Motoring current limit: power flowing from the drive to the motor

• Regen current limit: power flowing from the motor to the drive

• Symmetrical current limit: current limit for both motoring and regen operation

The lowest of either the motoring and regen current limit, or the symmetrical current limit applies.

The maximum setting of these parameters depends on the values of motor rated current, drive rated current and the power factor.

Increasing the motor rated current (Pr 00.046 {05.007}) above the Heavy Duty rating (default value), will automatically reduce the current limits in Pr 04.005 to Pr 04.007. If the motor rated current is then set to or below the Heavy Duty rating, the current limits will be left at their reduced values.

The drive can be oversized to permit a higher current limit setting to provide higher accelerating torque as required up to a maximum of 1000 %.

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If Rated Current Pr 00.046 {05.007} ≤ Maximum Heavy Duty Current Pr

00.032 {11.032}

Figure 7-1 Motor thermal protection (Heavy Duty)

If Pr 04.025 is 0 the characteristic is for a motor which can operate at rated current over the whole speed range. Induction motors with this type of characteristic normally have forced cooling. If Pr 04.025 is 1 the characteristic is intended for motors where the cooling effect of motor fan reduces with reduced motor speed below 50 % of base speed/ frequency. The maximum value for K1 is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 105 % current.

Figure 7-2 Motor thermal protection (Normal Duty)

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7.4 Motor thermal protection

A dual time constant thermal model is provided to estimate the motor temperature as a percentage of its maximum allowed temperature.

The motor thermal protection is modelled using losses in the motor. The losses in the motor are calculated as a percentage value, so that under these conditions the Motor Protection Accumulator (04.019) would eventually reach 100 %.

Percentage losses = 100 % x [Load related losses + Iron losses]

Where:

Load related losses = (1 - K

Iron losses = Kfe x (w / w

Rated

) x (I / (K1 x I

fe

1.6

)

Rated

2

))

Where:

I = Current Magnitude Pr 00.012 {04.001}

= Rated Current Pr 00.046 {05.007}

I

Rated

K

= Rated Iron Losses As Percentage Of Losses (04.039) / 100 %

fe

The Motor Protection Accumulator (04.019) is given by:

Pr 04.019 = Percentage Losses x [(1 - K

) (1 - e-

2

t/τ1

) + K2 (1 - e-

t/τ2

)]

Where:

T = Motor Protection Accumulator (04.019)

= Motor Thermal Time Constant 2 Scaling (04.038) / 100 %

K

2

τ1

= Motor Thermal Time Constant 1 Pr 00.053 {04.015}

τ2

= Motor Thermal Time Constant 2 (04.037)

= Varies, see below

K

1

Both settings of Pr 04.025 are intended for motors where the cooling effect of the motor fan reduces with reduced motor speed, but with different speeds below which the cooling effect is reduced. If Pr 04.025 is 0 the characteristic is intended for motors where the cooling effect reduces with motor speed below 15 % of base speed/frequency. If Pr 04.025 is 1 the characteristic is intended for motors where the cooling effect reduces with motor speed below 50 % of base speed/frequency. The maximum value for K1 is 1.01, so that above the knee of the characteristics the motor can operate continuously up to 101 % current.

When the estimated temperature in Pr 04.019 reaches 100 % the drive takes some action depending on the setting of Pr 04.016. If Pr 04.016 is 0, the drive trips when Pr 04.019 reaches 100 %. If Pr 04.016 is 1, the current limit is reduced to (K - 0.05) x 100 % when Pr 04.019 reaches 100 %.

The current limit is set back to the user defined level when Pr 04.019 falls below 95 %. The thermal model temperature accumulator accumulates the temperature of the motor while the drive remains powered-up. By default, the accumulator is set to the power down value at power up. If the rated current defined by Pr 00.046 {05.007} is altered, the accumulator is reset to zero.

The default setting of the thermal time constant Pr 00.053 {04.015} is 89 s which is equivalent to an overload of 150 % for 60 s from cold.

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Rated voltage

Tor q ue

Spee d

Rated speed

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7.5 Switching frequency

The default switching frequency is 3 kHz, however this can be increased up to a maximum of 16 kHz by Pr 00.041 {05.018} (dependent on drive size). The available switching frequencies are shown below.

Table 7-1 Available switching frequencies

Drive

size

Model

3

4

5

6

7

All 999999 9

8

9

10 11 400V 99999 11 575 and 690V 999

If switching frequency is increased from 3 kHz the following apply:

1. Increased heat loss in the drive, which means that derating to the output current must be applied. See the derating tables for switching frequency and ambient temperature in the Power Installation Guide.

2. Reduced heating of the motor - due to improved output waveform quality.

3. Reduced acoustic noise generated by the motor.

4. Increased sample rate on the speed and current controllers. A trade off must be made between motor heating, drive heating and the demands of the application with respect to the sample time required.

Table 7-2 Sample rates for various control tasks at each

switching frequency

3, 6, 12

3 kHz = 167μs

Level 1

6 kHz = 83 μs

12 kHz = 83 μs

Level 2 250 μs

Level 3 1 ms Voltage controller

Level 4 4 ms

Background

2

kHz3 kHz4 kHz6 kHz8 kHz

kHz

2, 4, 8, 16

kHz

2 kHz = 250 μs 4 kHz = 125 μs

8 kHz = 62.5 μs

16 kHz = 62.5 μs

2 kHz -500 μs 4 kHz - 250 μs 8 kHz - 125 μs

16 kHz - 125 μs

Open

loop

Peak limit

Current limit and ramps

Time critical user

Non-time critical user

12

kHz

Current controllers

Speed controller and ramps

interface

kHz

RFC-A RFC-S

16

7.6 High speed operation

7.6.1 Field weakening (constant power) operation

(Open loop and RFC-A mode only)

The drive can be used to run an induction machine above synchronous speed into the constant power region. The speed continues to increase and the available shaft torque reduces. The characteristics below show the torque and output voltage characteristics as the speed is increased above the rated value.

Figure 7-3 Torque and rated voltage against speed

Care must be taken to ensure the torque available above base speed is sufficient for the application to run satisfactorily.

The saturation breakpoint parameters (Pr 05.029, Pr 05. 030, Pr 05.062 and Pr 05.063) found during the autotune in RFC-A mode ensure the magnetizing current is reduced in the correct proportion for the specific motor. (In open loop mode the magnetizing current is not actively controlled).

7.6.2 Permanent magnet motor high speed operation

High speed servo mode is enabled by setting Pr 05.022 =1. Care must be taken when using this mode with permanent magnet motor to avoid damaging the drive. The voltage produced by the permanent magnet motor magnets is proportional to speed. For high speed operation the drive must apply currents to the motor to counter-act the flux produced by the magnets. It is possible to operate the motor at very high speeds that would give a very high motor terminal voltage, but this voltage is prevented by the action of the drive.

If however, the drive is disabled (or tripped) when the motor voltages would be higher than the rating of the drive without the currents to counter-act the flux from the magnets, it is possible to damage the drive. If high speed mode is enabled the motor speed must be limited to the levels given in the table below unless an additional hardware protection system is used to limit the voltages applied to the drive output terminals to a safe level.

Drive

voltage

rating

Maximum motor speed

(rpm)

200 400 x 1000 / (Ke x √2) 400 / √2 400 800 x 1000 / (Ke x √2) 800 / √2 575 955 x 1000 / (Ke x √2) 955 / √2 690 1145 x 1000 / (Ke x √2) 1145 / √2

Ke is the ratio between r.m.s. line to line voltage produced by the motor and the speed in V/1000 rpm. Care must also be taken not to demagnetize the motor. The motor manufacturer should always be consulted before using this mode.

By default, high speed operation is disabled (Pr 05.022 = 0).

It is also possible to enable high speed operation, and allow the drive to automatically limit the motor speed to the levels specified in the tables and generate an Overspeed.1 trip if the levels are exceeded (Pr 05.022 = -1)

Maximum safe line to line

voltage at the motor

terminals (V rms)

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7.6.3 Maximum speed / frequency

In all operating modes (Open loop, RFC-A and RFC-S) the maximum output frequency is limited to 550 Hz. However, in RFC-S mode the speed is also limited by the voltage constant (Ke) of the motor. Ke is a specific constant for the servo motor being used. It can normally be found on the motor data sheet in V/k rpm (volts per 1,000 rpm).

7.6.4 Switching frequency

With a default switching frequency of 3 kHz the maximum output frequency should be limited to 250 Hz. Ideally a minimum ratio of 12:1 should be maintained between the output frequency and the switching frequency. This ensures the number of switchings per cycle is sufficient to ensure the output waveform quality is maintained at a minimum level. If this is not possible, quasi-square switching should be enabled (Pr 05.020 =1). The output waveform will be quasi square above base speed ensuring a symmetrical output waveform, which results in a better quality output than would otherwise result.

7.6.5 Quasi-Square wave (open-loop only)

The maximum output voltage level of the drive is normally limited to an equivalent of the drive input voltage minus voltage drops within the drive (the drive will also retain a few percent of the voltage in order to maintain current control). If the motor rated voltage is set at the same level as the supply voltage, some pulse deletion will occur as the drive output voltage approaches the rated voltage level. If Pr 05.020 (Quasi-square wave enable) is set to 1 the modulator will allow over modulation, so that as the output frequency increases beyond the rated frequency the voltage continues to increase above the rated voltage. The modulation depth will increase beyond unity; first producing trapezoidal and then quasi-square waveforms.

This can be used for example:

• To obtain high output frequencies with a low switching frequency which would not be possible with space vector modulation limited to unity modulation depth,

or

• In order to maintain a higher output voltage with a low supply voltage.

The disadvantage is that the machine current will be distorted as the modulation depth increases above unity, and will contain a significant amount of low order odd harmonics of the fundamental output frequency. The additional low order harmonics cause increased losses and heating in the motor.

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Unidri ve M600 Control User Guide 91 Issue Number: 2

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Message data

SLAVE

ADDRESS

16bit CRCmessage data

FUNCTION

CODE

Silent

interval

Master request

Time

frame detect

Slave frame

processing

Slave response

Slave response time

Master request

New master request

can start here

minimum silence period

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7.7 CT Modbus RTU specification

This section describes the adaptation of the MODBUS RTU protocol offered on Control Techniques' products. The portable software class which implements this protocol is also defined.

MODBUS RTU is a master slave system with half-duplex message exchange. The Control Techniques (CT) implementation supports the core function codes to read and write registers. A scheme to map between MODBUS registers and CT parameters is defined. The CT implementation also defines a 32 bit extension to the standard 16 bit register data format.

7.7.1 MODBUS RTU

Physical layer

Attribute Description

Normal physical layer for multi-drop operation EIA 485 2 wire

Bit stream Standard UART asynchronous symbols with Non Return to Zero (NRZ)

Each symbol consists of:-

Symbol

Baud rates 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 76800, 115200

* The drive will accept a packet with 1 or 2 stop bits but will always transmit 2 stop bits

RTU framing

The frame has the following basic format

1 start bit 8 data bits (transmitted least significant bit first) 2 stop bits*

The frame is terminated with a minimum silent period of 3.5 character times (for example, at 19200 baud the minimum silent period is 2 ms). Nodes use the terminating silence period to detect the end of frame and begin frame processing. All frames must therefore be transmitted as a continuous stream without any gaps greater or equal to the silence period. If an erroneous gap is inserted then receiving nodes may start frame processing early in which case the CRC will fail and the frame will be discarded.

MODBUS RTU is a master slave system. All master requests, except broadcast requests, will lead to a response from an individual slave. The slave will respond (i.e. start transmitting the response) within the quoted maximum slave response time (this time is quoted in the data sheet for all Control Techniques products). The minimum slave response time is also quoted but will never be less that the minimum silent period defined by 3.5 character times.

If the master request was a broadcast request then the master may transmit a new request once the maximum slave response time has expired.

The master must implement a message time out to handle transmission errors. This time out period must be set to the maximum slave response time + transmission time for the response.

7.7.2 Slave address

The first byte of the frame is the slave node address. Valid slave node addresses are 1 through 247 decimal. In the master request this byte indicates the target slave node; in the slave response this byte indicates the address of the slave sending the response.

Global addressing

Address zero addresses all slave nodes on the network. Slave nodes suppress the response messages for broadcast requests.

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7.7.3 MODBUS registers

The MODBUS register address range is 16 bit (65536 registers) which at the protocol level is represented by indexes 0 through 65535.

PLC registers

Modicon PLCs typically define 4 register 'files' each containing 65536 registers. Traditionally, the registers are referenced 1 through 65536 rather than 0 through 65535. The register address is therefore decremented on the master device before passing to the protocol.

File type Description

1 Read only bits ("coil")

2 Read / write bits ("coil")

3 Read only 16bit register

4 Read / write 16bit register

The register file type code is NOT transmitted by MODBUS and all register files can be considered to map onto a single register address space. However, specific function codes are defined in MODBUS to support access to the "coil" registers. All standard CT drive parameters are mapped to register file '4' and the coil function codes are not required.

CT parameter mapping

The Modbus register address is 16 bits in size, of which the upper two bits are used for data type selection leaving 14 bits to represent the parameter address, taking into account the slave increments the address value by 1, this results in a theoretical maximum parameter address of 163.84 (limited to 162.99 in software) when the default standard addressing mode (see Serial Mode Pr 00.035 {11.024}) is used.

To access a parameter number above 99 in any drive menu then the modified addressing mode must be used (see Serial Mode Pr 00.035 {11.024}), this will allow access to parameter numbers up to 255 but also limit the maximum menu number to 63.

The Modbus slave device increments the register address by 1 before processing the command, this effectively prevents access to parameter Pr 00.000 in the drive or option module.

The table below shows how the start register address is calculated for both addressing modes.

Parameter Addressing mode Protocol register

0.mm.ppp

Standard mm x 100 + ppp - 1

Modified mm x 256 + ppp - 1

Examples

16-bit 32-bit

Decimal Hex (0x) Decimal Hex (0x)

0.01.021

0.01.000

0.03.161

Standard 120 00 78 16504 40 78

Modified 276 01 14 16660 41 14

Standard 99 00 63 16483 40 63

Modified 255 00 FF 16639 40 FF

Standard N/A N/A N/A N/A

Modified 928 03 A0 17312 43 A0

Data types

The MODBUS protocol specification defines registers as 16 bit signed integers. All CT devices support this data size. Refer to the section

7.7.7 Extended data types on page 95 for detail on accessing 32 bit register data.

7.7.4 Data consistency

All CT devices support a minimum data consistency of one parameter (16 bit or 32 bit data). Some devices support consistency for a complete multiple register transaction.

7.7.5 Data encoding

MODBUS RTU uses a 'big-endian' representation for addresses and data items (except the CRC, which is 'little-endian'). This means that when a numerical quantity larger than a single byte is transmitted, the MOST significant byte is sent first. So for example

16 - bits 0x1234 would be 0x12 0x34

32 - bits 0x12345678 would be 0x12 0x34 0x56 0x78

7.7.6 Function codes

The function code determines the context and format of the message data. Bit 7 of the function code is used in the slave response to indicate an exception.

The following function codes are supported:

Code Description

3 Read multiple 16 bit registers

6 Write single register

16 Write multiple 16 bit registers

23 Read and write multiple 16 bit registers

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FC03 Read multiple

Read a contiguous array of registers. The slave imposes an upper limit on the number of registers, which can be read. If this is exceeded the slave will issue an exception code 2.

Table 7-3 Master request

Byte Description

0 Slave destination node address 1 through 247, 0 is global

1 Function code 0x03

2 Start register address MSB

3 Start register address LSB

4 Number of 16 bit registers MSB

5 Number of 16 bit registers LSB

6CRC LSB

7CRC MSB

Table 7-4 Slave response

Byte Description

0 Slave source node address

1 Function code 0x03

2 Length of register data in read block (in bytes)

3 Register data 0 MSB

4 Register data 0 LSB

3+byte count CRC LSB

4+byte count CRC MSB

FC06 Write single register

Writes a value to a single 16 bit register. The normal response is an echo of the request, returned after the register contents have been written. The register address can correspond to a 32 bit parameter but only 16 bits of data can be sent.

Table 7-5 Master request

Byte Description

0 Slave node address 1 through 247, 0 is global

1 Function code 0x06

2 Register address MSB

3 Register address LSB

4 Register data MSB

5 Register data LSB

6 CRC LSB

7 CRC MSB

Table 7-6 Slave response

Byte Description

0 Slave source node address

1 Function code 0x06

2 Register address MSB

3 Register address LSB

4 Register data MSB

5 Register data LSB

6 CRC LSB

7 CRC MSB

FC16 Write multiple

Writes a contiguous array of registers. The slave imposes an upper limit on the number of registers which can be written. If this is exceeded the slave will discard the request and the master will time out.

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Table 7-7 Master request

Byte Description

0 Slave node address 1 through 247, 0 is global

1 Function code 0x10

2 Start register address MSB

3 Start register address LSB

4 Number of 16 bit registers MSB

5 Number of 16 bit registers LSB

6 Length of register data to write (in bytes)

7 Register data 0 MSB

8 Register data 0 LSB

7+byte count CRC LSB

8+byte count CRC MSB

Table 7-8 Slave response

Byte Description

0 Slave source node address

1 Function code 0x10

2 Start register address MSB

3 Start register address LSB

4 Number of 16 bit registers written MSB

5 Number of 16 bit registers written LSB

6 CRC LSB

7 CRC MSB

FC23 Read/Write multiple

Writes and reads two contiguous arrays of registers. The slave imposes an upper limit on the number of registers which can be written. If this is exceeded the slave will discard the request and the master will time out.

Table 7-9 Master request

Byte Description

0 Slave node address 1 through 247, 0 is global

1 Function code 0x17

2 Start register address to read MSB

3 Start register address to read LSB

4 Number of 16 bit registers to read MSB

5 Number of 16 bit registers to read LSB

6 Start register address to write MSB

7 Start register address to write LSB

8 Number of 16 bit registers to write MSB

9 Number of 16 bit registers to write LSB

10 Length of register data to write (in bytes)

11 Register data 0 MSB

12 Register data 0 LSB

11+byte count CRC LSB

12+byte count CRC MSB

Table 7-10 Slave response

Byte Description

0 Slave source node address

1 Function code 0x17

2 Length of register data in read block (in bytes)

3 Register data 0 MSB

4 Register data 0 LSB

3+byte count CRC LSB

4+byte count CRC MSB

s

7.7.7 Extended data types

Standard MODBUS registers are 16bit and the standard mapping maps a single #X.Y parameter to a single MODBUS register. To support 32 bit data types (integer and float) the MODBUS multiple read and write services are used to transfer a contiguous array of 16bit registers.

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bit 15 TYP1

bits 0 - 13

Type select Parameter address

X x 100+Y-1

bit 14 TYP0

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Slave devices typically contain a mixed set of 16 bit and 32 bit registers. To permit the master to select the desired 16 bit or 32 bit access the top two bits of the register address are used to indicate the selected data type.

The selection is applied for the whole block access.

The 2bit type field selects the data type according to the table below:

Typ e fiel d bits 15-14

Selected data type Comments

00 INT16 backward compatible

01 INT32

10 Float32

IEEE754 standard Not supported on all slaves

11 R ese rved

If a 32 bit data type is selected then the slave uses two consecutive 16 bit MODBUS registers (in 'big endian'). The master must also set the correct 'number of 16 bit registers'.

Example, read Pr 20.021 through Pr 20.024 as 32 bit parameters using FC03 from node 8:

Table 7-11 Master request

Byte Value Description

0 0x08 Slave destination node address

1 0x03 FC03 multiple read

20x47

30xE4

40x00

50x08

Start register address Pr 20.021 (16384 + 2021 - 1) = 18404 = 0x47E4

Number of 16bit registers to read Pr 20.021 through Pr 20.024 is 4x32 bit registers = 8x16 bit registers

6 CRC LSB

7CRC MSB

Table 7-12 Slave response

Byte Value Description

0 0x08 Slave destination node address

1 0x03 FC03 multiple read

2 0x10 Length of data (bytes) = 4x32 bit registers = 16 bytes

3-6 Pr 20.021 data

7-10 Pr 20.022 data

11-14 Pr 20.023 data

15-18 Pr 20.024 data

19 CRC LSB

20 CRC MSB

Reads when actual parameter type is different from selected

The slave will send the least significant word of a 32 bit parameter if that parameter is read as part of a 16 bit access.

The slave will sign extend the least significant word if a 16 bit parameter is accessed as a 32 bit parameter. The number of 16 bit registers must be even during a 32 bit access.

Example, If Pr 01.028 is a 32 bit parameter with a value of 0x12345678, Pr 01.029 is a signed 16 bit parameter with a value of 0xABCD, and Pr 01.030 is a signed 16 bit parameter with a value of 0x0123.

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Read

Start register

address

Pr 01.028 127 1 0x5678

Number of 16 bit

registers

Response Comments

Standard 16 bit access to a 32 bit register will return low 16 bit word of truncated data

Pr 01.028 16511* 2 0x12345678 Full 32 bit access

Pr 01.028 16511* 1 Exception 2

Pr 01.029 128 1 0xABCD

Pr 01.029 16512* 2 0xFFFFABCD

Pr 01.030 16513* 2 0x00000123

Pr 01.028 to

Pr 01.029

Pr 01.028 to

Pr 01.029

127 2 0x5678, 0xABCD

16511* 4 0x12345678, 0xFFFFABCD Full 32 bit access

Number of words must be even for 32 bit access

Standard 16 bit access to a 32 bit register will return low 16 bit word of data

32 bit access to a 16 bit register will return 32 bit sign extended data

Standard 16 bit access to a 32 bit register will return low 16 bit word of truncated data

* Bit 14 is set to allow 32 bit access.

Writes when actual parameter type is different from selected

The slave will allow writing a 32 bit value to a 16 bit parameter as long as the 32 bit value is within the normal range of the 16 bit parameter.

The slave will allow a 16 bit write to a 32 bit parameter. The slave will sign extend the written value, therefore the effective range of this type of write will be -32768 to +32767.

Examples, if Pr 01.028 has a range of ±100000, and Pr 01.029 has a range of ±10000.

Write

Start register

address

Pr 01.028 127 1 0x1234

Pr 01.028 127 1 0xABCD

Number of 16bit

registers

Data Comments

Standard 16 bit write to a 32bit register. Value written = 0x00001234

Standard 16 bit write to a 32bit register. Value written = 0xFFFFABCD

Pr 01.028 16511 2 0x00001234 Value written = 0x00001234

Pr 01.029 128 1 0x0123 Value written = 0x0123

Pr 01.029 16512 2 0x00000123 Value written = 0x00000123

* Bit 14 is set to allow 32 bit access

7.7.8 Exceptions

The slave will respond with an exception response if an error is detected in the master request. If a message is corrupted and the frame is not received or the CRC fails then the slave will not issue an exception. In this case the master device will time out. If a write multiple (FC16 or FC23) request exceeds the slave maximum buffer size then the slave will discard the message. No exception will be transmitted in this case and the master will time out.

Exception message format

The slave exception message has the following format.

Byte Description

0 Slave source node address

1 Original function code with bit 7 set

2 Exception code

3 CRC LSB

4 CRC MSB

Exception codes

The following exception codes are supported.

Code Description

1 Function code not supported

2 Register address out of range, or request to read too many registers

Parameter over range during block write FC16

The slave processes the write block in the order the data is received. If a write fails due to an out of range value then the write block is terminated. However, the slave does not raise an exception response, rather the error condition is signalled to the master by the number of successful writes field in the response.

Parameter over range during block read/write FC23

There will be no indication that there has been a value out of range during a FC23 access.

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7.7.9 CRC

The CRC is a 16 bit cyclic redundancy check using the standard CRC-16 polynomial x16 + x15 + x2 + 1. The 16 bit CRC is appended to the message and transmitted LSB first.

The CRC is calculated on ALL the bytes in the frame.

7.7.10 Device compatibility parameters

All devices have the following compatibility parameters defined:

Parameter Description

Device ID Unique device identification code

Minimum slave response time

Maximum slave response time

Baud rate Baud rate used by Modbus RTU

32 bit float data type supported

Maximum buffer size Determines the maximum block size.

The minimum delay between the end of a message from the master and the time at which the master is ready to receive a response from the slave.

When global addressing, the master must wait for this time before issuing a new message. In a network of devices, the slowest time must be used

If this data type is not supported then an over range error will be raised if this data type is used

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Pr = Read +00.030

Drive reads all parameters from

the NV Media Card

Pr = Program +00.030

Programs all drive

parameters to the NV Media Card

NOTE

Overwrites any data already in data block 1

Pr =Auto +00.030

Auto Save

Drive automatically writes to the NV Media Card when a parameter

save is performed

Pr = Boot +00.030

Boot

Auto Save

Drive boots from the

on power up and automatically writes to the NV Media Card when a parameter save is performed

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8 NV Media Card Operation

8.1 Introduction

The Non-Volatile Media Card feature enables simple configuration of parameters, parameter back-up, storing / reading PLC programs and drive copying using a SMARTCARD or SD card storing / reading PLC programs. The drive offers backward compatibility for a Unidrive SP SMARTCARD.

The NV Media Card can be used for:

• Parameter copying between drives

• Saving drive parameter sets

• Saving an onboard user program

The NV Media Card is located at the top of the module under the drive display (if installed) on the left-hand side.

Ensure the NV Media Card is inserted with the contacts facing the lefthand side of the drive.

The drive only communicates with the NV Media Card when commanded to read or write, meaning the card may be "hot swapped".

Beware of possible live terminals when installing the NV Media Card.

motor

Optimization

The Unidrive M is not able to read any other type of Unidrive SP data block on the card. Although it is possible to transfer difference from default data blocks from a Unidrive SP into the Unidrive M, the following should be noted:

1. If a parameter from the source drive does not exist in the target drive then no data is transferred for that parameter.

2. If the data for the parameter in the target drive is out of range then the data is limited to the range of the target parameter.

3. If the target drive has a different rating to the source drive then the normal rules for this type of transfer apply.

Figure 8-2 Basic NV Media Card operation

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Figure 8-1 Installation of the NV Media Card

1. Installing the NV Media Card

2. NV Media Card installed

NV Media Card Part number

SD Card Adaptor (memory card not included) 3130-1212

8 kB SMARTCARD 2214-4246

64 kB SMARTCARD 2214-1006

8.2 NV Media Card support

The NV Media Card can be used to store drive parameter sets and / or PLC programs set from the Unidrive M in data blocks 001 to 499 on the card.

The Unidrive M is compatible with a Unidrive SP SMARTCARD and is able to read and translate the Unidrive SP parameter set into a compatible parameter set for Unidrive M. This is only possible if the Unidrive SP parameter set was transferred to the SMARTCARD using the difference from defaults transfer method (i.e. 4yyy transfer).

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The whole card may be protected from writing or erasing by setting the read-only flag as detailed in section 8.3.9 9888 / 9777 - Setting and clearing the NV Media Card read only flag on page 101.

The card should not be removed during data transfer, as the drive will produce a trip. If this occurs then either the transfer should be re-attempted or in the case of a card to drive transfer, default parameters should be loaded.

8.3 Transferring data

Data transfer, erasing and protecting the information is performed by entering a code in Pr

Table 8-1 SMARTCARD and SD card codes

Code Operation SMARTCARD SD card

2001

4yyy

Transfer the drive parameters to parameter file 001 and sets the block as bootable. This will include the parameters from attached option modules.

Transfer the drive parameters to parameter file yyy. This will include the parameters from attached option modules.

5yyy Transfer the onboard user program to onboard user program file yyy.

6yyy

Load the drive parameters from parameter file yyy or the onboard user program from onboard user program file yyy.

7yyy Erase file yyy.

Compare the data in the drive with file yyy. If the files are the same then Pr mm.000 (mm.000) is simply

8yyy

reset to 0 when the compare is complete. If the files are different a ‘Card Compare’ trip is initiated. All other NV media card trips also apply.

9555 Clear the warning suppression flag

9666 Set the warning suppression flag

9777 Clear the read-only flag

9888 Set the read-only flag

9999 Erase and format the NV media card

Where yyy indicates the block number 001 to 999.

However, drive rating dependent parameters will be transferred if only the current rating is different. If drive rating dependant parameters are

If the read only flag is set then only codes 6yyy or 9777 are effective.

8.3.1 Writing to the NV Media Card

4yyy - Writes defaults differences to the NV Media Card

The data block only contains the parameter differences from the last time default settings were loaded.

All parameters except those with the NC (Not copied) coding bit set are transferred to the NV Media Card. In addition to these parameters all menu 20 parameters (except Pr 20.000), can be transferred to the NV Media Card.

Writing a parameter set to the NV Media Card (Pr 11.042 = Program (2))

Setting Pr 11.04 2 to Program (2) and resetting the drive will save the parameters to the NV Media Card, i.e. this is equivalent to writing 4001 to Pr mm.000. All NV Media Card trips apply except 'Card Change'. If the data block already exists it is automatically overwritten. When the action is complete this parameter is automatically reset to None (0).

8.3.2 Reading from the NV Media Card

not transferred to the destination drive they will contain their default values.

Pr 02.008 Standard Ramp Voltage

Pr

04.005

Pr 04.024, User Current Maximum Scaling

Pr 05.007, Pr 21.007 Rated Current

Pr 05.009, Pr 21.009 Rated Voltage

Pr 05.010, Pr 21.010 Rated Power Factor

Pr 05.017, Pr 21.012 Stator Resistance

Pr 05.018 Maximum Switching Frequency

Pr 05.024, Pr 21.014 Transient Inductance

Pr 05.025, Pr 21.024 Stator Inductance

Pr 06.006 Injection Braking Level

Pr 06.048 Supply Loss Detection Level

Pr 06.065 Standard Under Voltage Threshold

Pr 06.066 Low Under Voltage Threshold

6yyy - Reading from NV Media Card

When the data is transferred back to the drive, using 6yyy in Pr mm.000, it is transferred to the drive RAM and the EEPROM. A parameter save is not required to retain the data after-power down. Set up data for any option modules installed stored on the card are transferred to the drive. If the option modules installed are different between source and destination drives, the menus for the option module slots where the option module categories are different are not updated from the card and will contain their default values after the copying action. The drive will produce a 'Card Option' trip if the option module installed to the source and the destination drives are different or are in different slots. If the data is being transferred to the drive with different voltage or current rating a 'Card Rating' trip will occur.

The following drive rating dependant parameters (RA coding bit set) will not be transferred to the destination drive by a NV Media Card when the voltage rating of the destination drive is different from the source drive and the file is a parameter file.

to Pr

mm.000

and then resetting the drive as shown in Table 8-1.

99

99 99 99 99 9

04.007

and Pr

21.027

to Pr

21.029

Motoring Current Limits

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Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

EU Declaration of Conformity

EU Declaration of Conformity (including 2006 Machinery Directive)

1 Safety information

1.1 Warnings, Cautions and Notes

1.3 Responsibility

1.4 Compliance with regulations

1.5 Electrical hazards

1.6 Stored electrical charge

1.7 Mechanical hazards

1.8 Access to equipment

1.9 Environmental limits

1.10 Hazardous environments

1.11 Motor

1.12 Mechanical brake control

1.13 Adjusting parameters

1.14 Electromagnetic compatibility (EMC)

2 Product information

2.1 Introduction

2.2 Drive firmware version

2.3 Model number

2.4 Ratings

2.5 Operating modes

2.5.1 Open loop mode

2.5.2 RFC-A mode

2.5.3 RFC- S

2.5.4 Regen mode

2.6 Nameplate description

2.7 Options

2.8 Drive features

3 Mechanical installation

3.1 Installing / removing option modules and keypads

3.1.1 Real time clock battery replacement

4 Electrical installation

4.1 24 Vdc supply

4.2 Communication connections

4.2.1 Isolation of the EIA 485 serial communications port

4.2.2 Communication networks and cabling

4.3 Control connections

4.3.1 General

4.3.2 Control terminal specification

4.4 Safe Torque Off (STO)

5 Getting started

5.1 Understanding the display

5.1.1 KI-Keypad

5.2 Keypad operation

5.2.1 Control buttons

5.2.2 Quick access mode

5.2.3 Keypad shortcuts

5.3 Menu structure

5.4 Menu 0

5.5 Advanced menus

5.5.1 KI-Keypad set-up menu

5.5.2 Display messages

5.5.3 Alarm indications

5.6 Changing the operating mode

5.7 Saving parameters

5.8 Restoring parameter defaults

5.9 Parameter access level and security

5.9.1 User Security Level / Access Level

5.9.2 Changing the User Security Level /Access Level

5.9.3 User Security Code

5.11 Displaying destination parameters only

5.12 Communications

5.12.1 EIA 485 Serial communications

6 Basic parameters

6.1 Menu 0: Basic parameters

6.2 Parameter descriptions

6.2.1 Pr mm.000

6.3 Full descriptions

6.3.1 Parameter x.00

6.3.3 Ramps, speed reference selection, current limit

6.3.2 Speed limits

6.3.4 Voltage boost, (open-loop), Speed-loop PID gains (RFC-A / RFC-S)

6.3.5 Monitoring

6.3.6 Jog reference, Ramp mode selector, Stop and torque mode selectors